Assessment of image quality in soft tissue and bone visualization tasks for a dedicated extremity cone-beam CT system.

OBJECTIVE: To assess visualization tasks using cone-beam CT (CBCT) compared to multi-detector CT (MDCT) for musculoskeletal extremity imaging. METHODS: Ten cadaveric hands and ten knees were examined using a dedicated CBCT prototype and a clinical multi-detector CT using nominal protocols (80 kVp-108mAs for CBCT; 120 kVp- 300 mAs for MDCT). Soft tissue and bone visualization tasks were assessed by four radiologists using five-point satisfaction (for CBCT and MDCT individually) and five-point preference (side-by-side CBCT versus MDCT image quality comparison) rating tests. Ratings were analyzed using Kruskal-Wallis and Wilcoxon signed-rank tests, and observer agreement was assessed using the Kappa-statistic. RESULTS: Knee CBCT images were rated "excellent" or "good" (median scores 5 and 4) for "bone" and "soft tissue" visualization tasks. Hand CBCT images were rated "excellent" or "adequate" (median scores 5 and 3) for "bone" and "soft tissue" visualization tasks. Preference tests rated CBCT equivalent or superior to MDCT for bone visualization and favoured the MDCT for soft tissue visualization tasks. Intraobserver agreement for CBCT satisfaction tests was fair to almost perfect (κ ~ 0.26-0.92), and interobserver agreement was fair to moderate (κ ~ 0.27-0.54). CONCLUSION: CBCT provided excellent image quality for bone visualization and adequate image quality for soft tissue visualization tasks. KEY POINTS: • CBCT provided adequate image quality for diagnostic tasks in extremity imaging. • CBCT images were "excellent" for "bone" and "good/adequate" for "soft tissue" visualization tasks. • CBCT image quality was equivalent/superior to MDCT for bone visualization tasks.

Multi-Stage Adaptive Spline Autofocus (MASA) with a Learned Metric for Deformable Motion Compensation in Interventional Cone-Beam CT.

Purpose: Cone-beam CT (CBCT) is widespread in abdominal interventional imaging, but its long acquisition time makes it susceptible to patient motion. Image-based autofocus has shown success in CBCT deformable motion compensation, via deep autofocus metrics and multi-region optimization, but it is challenged by the large parameter dimensionality required to capture intricate motion trajectories. This work leverages the differentiable nature of deep autofocus metrics to build a novel optimization strategy, Multi-Stage Adaptive Spine Autofocus (MASA), for compensation of complex deformable motion in abdominal CBCT. Methods: MASA poses the autofocus problem as a multi-stage adaptive sampling strategy of the motion trajectory, sampled with Hermite spline basis with variable amplitude and knot temporal positioning. The adaptive method permits simultaneous optimization of the sampling phase, local temporal sampling density, and time-dependent amplitude of the motion trajectory. The optimization is performed in a multi-stage schedule with increasing number of knots that progressively accommodates complex trajectories in late stages, preconditioned by coarser components from early stages, and with minimal increase in dimensionality. MASA was evaluated in controlled simulation experiments with two types of motion trajectories: i) combinations of slow drifts with sudden jerk (sigmoid) motion; and ii) combinations of periodic motion sources of varying frequency into multi-frequency trajectories. Further validation was obtained in clinical data from liver CBCT featuring motion of contrast-enhanced vessels, and soft-tissue structures. Results: The adaptive sampling strategy provided successful motion compensation in sigmoid trajectories, compared to fixed sampling strategies (mean SSIM increase of 0.026 compared to 0.011). Inspection of the estimated motion showed the capability of MASA to automatically allocate larger sampling density to parts of the scan timeline featuring sudden motion, effectively accommodating complex motion without increasing the problem dimension. Experiments on multi-frequency trajectories with 3-stage MASA (5, 10, and 15 knots) yielded a twofold SSIM increase compared to single-stage autofocus with 15 knots (0.076 vs 0.040, respectively). Application of MASA to clinical datasets resulted in simultaneous improvement on the delineation of both contrast-enhanced vessels and soft-tissue structures in the liver. Conclusion: A new autofocus framework, MASA, was developed including a novel multi-stage technique for adaptive temporal sampling of the motion trajectory in combination with fully differentiable deep autofocus metrics. This novel adaptive sampling approach is a crucial step for application of deformable motion compensation to complex temporal motion trajectories.

Multi-Body 3D-2D Registration for Robot-Assisted Joint Reduction: Preclinical Evaluation in the Ankle Syndesmosis.

Purpose: Existing methods to improve the accuracy of tibiofibular joint reduction present workflow challenges, high radiation exposure, and a lack of accuracy and precision, leading to poor surgical outcomes. To address these limitations, we propose a method to perform robot-assisted joint reduction using intraoperative imaging to align the dislocated fibula to a target pose relative to the tibia. Methods: The approach (1) localizes the robot via 3D-2D registration of a custom plate adapter attached to its end effector, (2) localizes the tibia and fibula using multi-body 3D-2D registration, and (3) drives the robot to reduce the dislocated fibula according to the target plan. The custom robot adapter was designed to interface directly with the fibular plate while presenting radiographic features to aid registration. Registration accuracy was evaluated on a cadaveric ankle specimen, and the feasibility of robotic guidance was assessed by manipulating a dislocated fibula in a cadaver ankle. Results: Using standard AP and mortise radiographic views registration errors were measured to be less than 1 mm and 1° for the robot adapter and the ankle bones. Experiments in a cadaveric specimen revealed up to 4 mm deviations from the intended path, which was reduced to <2 mm using corrective actions guided by intraoperative imaging and 3D-2D registration. Conclusions: Preclinical studies suggest that significant robot flex and tibial motion occur during fibula manipulation, motivating the use of the proposed method to dynamically correct the robot trajectory. Accurate robot registration was achieved via the use of fiducials embedded within the custom design. Future work will evaluate the approach on a custom radiolucent robot design currently under construction and verify the solution on additional cadaveric specimens.

Effects of non-stationary blur on texture biomarkers of bone using Ultra-High Resolution CT.

Purpose: To advance the development of radiomic models of bone quality using the recently introduced Ultra-High Resolution CT (UHR CT), we investigate inter-scan reproducibility of trabecular bone texture features to spatially-variant azimuthal and radial blurs associated with focal spot elongation and gantry rotation. Methods: The UHR CT system features 250×250 µm detector pixels and an x-ray source with a 0.4×0.5 mm focal spot. Visualization of details down to ~150 µm has been reported for this device. A cadaveric femur was imaged on UHR CT at three radial locations within the field-of-view: 0 cm (isocenter), 9 cm from the isocenter, and 18 cm from the isocenter; we expect the non-stationary blurs to worsen with increasing radial displacement. Gray level cooccurrence (GLCM) and gray level run length (GLRLM) texture features were extracted from 237 trabecular regions of interest (ROIs, 5 cm diameter) placed at corresponding locations in the femoral head in scans obtained at the different shifts. We evaluated concordance correlation coefficient (CCC) between texture features at 0 cm (reference) and at 9 cm and 18 cm. We also investigated whether the spatially-variant blurs affect K-means clustering of trabecular bone ROIs based on their texture features. Results: The average CCCs (against the 0 cm reference) for GLCM and GLRM features were ~0.7 at 9 cm. At 18 cm, the average CCCs were reduced to ~0.17 for GLCM and ~0.26 for GLRM. The non-stationary blurs are incorporated in radiomic features of cancellous bone, leading to inconsistencies in clustering of trabecular ROIs between different radial locations: an intersection-over-union overlap of corresponding (most similar) clusters between 0 cm and 9 cm shift was >70%, but dropped to <60% for the majority of corresponding clusters between 0 cm and 18 cm shift. Conclusion: Non-stationary CT system blurs reduce inter-scan reproducibility of texture features of trabecular bone in UHR CT, especially for locations >15 cm from the isocenter. Radiomic models of bone quality derived from UHR CT measurements at isocenter might need to be revised before application in peripheral body sites such as the hips.

Antiscatter grids in mobile C-arm cone-beam CT: effect on image quality and dose.

PURPOSE: X-ray scatter is a major detriment to image quality in cone-beam CT (CBCT). Existing geometries exhibit strong differences in scatter susceptibility with more compact geometries, e.g., dental or musculoskeletal, benefiting from antiscatter grids, whereas in more extended geometries, e.g., IGRT, grid use carries tradeoffs in image quality per unit dose. This work assesses the tradeoffs in dose and image quality for grids applied in the context of low-dose CBCT on a mobile C-arm for image-guided surgery. METHODS: Studies were performed on a mobile C-arm equipped with a flat-panel detector for high-quality CBCT. Antiscatter grids of grid ratio (GR) 6:1-12:1, 40 lp∕cm, were tested in "body" surgery, i.e., spine, using protocols for bone and soft-tissue visibility in the thoracic and abdominal spine. Studies focused on grid orientation, CT number accuracy, image noise, and contrast-to-noise ratio (CNR) in quantitative phantoms at constant dose. RESULTS: There was no effect of grid orientation on possible gridline artifacts, given accurate angle-dependent gain calibration. Incorrect calibration was found to result in gridline shadows in the projection data that imparted high-frequency artifacts in 3D reconstructions. Increasing GR reduced errors in CT number from 31%, thorax, and 37%, abdomen, for gridless operation to 2% and 10%, respectively, with a 12:1 grid, while image noise increased by up to 70%. The CNR of high-contrast objects was largely unaffected by grids, but low-contrast soft-tissues suffered reduction in CNR, 2%-65%, across the investigated GR at constant dose. CONCLUSIONS: While grids improved CT number accuracy, soft-tissue CNR was reduced due to attenuation of primary radiation. CNR could be restored by increasing dose by factors of ~1.6-2.5 depending on GR, e.g., increase from 4.6 mGy for the thorax and 12.5 mGy for the abdomen without antiscatter grids to approximately 12 mGy and 30 mGy, respectively, with a high-GR grid. However, increasing the dose poses a significant impediment to repeat intraoperative CBCT and can cause the cumulative intraoperative dose to exceed that of a single diagnostic CT scan. This places the mobile C-arm in the category of extended CBCT geometries with sufficient air gap for which the tradeoffs between CNR and dose typically do not favor incorporation of an antiscatter grid.

Reference-free learning-based similarity metric for motion compensation in cone-beam CT.

Purpose. Patient motion artifacts present a prevalent challenge to image quality in interventional cone-beam CT (CBCT). We propose a novel reference-free similarity metric (DL-VIF) that leverages the capability of deep convolutional neural networks (CNN) to learn features associated with motion artifacts within realistic anatomical features. DL-VIF aims to address shortcomings of conventional metrics of motion-induced image quality degradation that favor characteristics associated with motion-free images, such as sharpness or piecewise constancy, but lack any awareness of the underlying anatomy, potentially promoting images depicting unrealistic image content. DL-VIF was integrated in an autofocus motion compensation framework to test its performance for motion estimation in interventional CBCT.Methods. DL-VIF is a reference-free surrogate for the previously reported visual image fidelity (VIF) metric, computed against a motion-free reference, generated using a CNN trained using simulated motion-corrupted and motion-free CBCT data. Relatively shallow (2-ResBlock) and deep (3-Resblock) CNN architectures were trained and tested to assess sensitivity to motion artifacts and generalizability to unseen anatomy and motion patterns. DL-VIF was integrated into an autofocus framework for rigid motion compensation in head/brain CBCT and assessed in simulation and cadaver studies in comparison to a conventional gradient entropy metric.Results. The 2-ResBlock architecture better reflected motion severity and extrapolated to unseen data, whereas 3-ResBlock was found more susceptible to overfitting, limiting its generalizability to unseen scenarios. DL-VIF outperformed gradient entropy in simulation studies yielding average multi-resolution structural similarity index (SSIM) improvement over uncompensated image of 0.068 and 0.034, respectively, referenced to motion-free images. DL-VIF was also more robust in motion compensation, evidenced by reduced variance in SSIM for various motion patterns (σDL-VIF = 0.008 versusσgradient entropy = 0.019). Similarly, in cadaver studies, DL-VIF demonstrated superior motion compensation compared to gradient entropy (an average SSIM improvement of 0.043 (5%) versus little improvement and even degradation in SSIM, respectively) and visually improved image quality even in severely motion-corrupted images.Conclusion: The studies demonstrated the feasibility of building reference-free similarity metrics for quantification of motion-induced image quality degradation and distortion of anatomical structures in CBCT. DL-VIF provides a reliable surrogate for motion severity, penalizes unrealistic distortions, and presents a valuable new objective function for autofocus motion compensation in CBCT.

Simulation of Random Deformable Motion in Soft-Tissue Cone-Beam CT with Learned Models.

Cone-beam CT (CBCT) is widely used for guidance in interventional radiology but it is susceptible to motion artifacts. Motion in interventional CBCT features a complex combination of diverse sources including quasi-periodic, consistent motion patterns such as respiratory motion, and aperiodic, quasi-random, motion such as peristalsis. Recent developments in image-based motion compensation methods include approaches that combine autofocus techniques with deep learning models for extraction of image features pertinent to CBCT motion. Training of such deep autofocus models requires the generation of large amounts of realistic, motion-corrupted CBCT. Previous works on motion simulation were mostly focused on quasi-periodic motion patterns, and reliable simulation of complex combined motion with quasi-random components remains an unaddressed challenge. This work presents a framework aimed at synthesis of realistic motion trajectories for simulation of deformable motion in soft-tissue CBCT. The approach leveraged the capability of conditional generative adversarial network (GAN) models to learn the complex underlying motion present in unlabeled, motion-corrupted, CBCT volumes. The approach is designed for training with unpaired clinical CBCT in an unsupervised fashion. This work presents a first feasibility study, in which the model was trained with simulated data featuring known motion, providing a controlled scenario for validation of the proposed approach prior to extension to clinical data. Our proof-of-concept study illustrated the potential of the model to generate realistic, variable simulation of CBCT deformable motion fields, consistent with three trends underlying the designed training data: i) the synthetic motion induced only diffeomorphic deformations - with Jacobian Determinant larger than zero; ii) the synthetic motion showed median displacement of 0. 5 mm in regions predominantly static in the training (e.g., the posterior aspect of the patient laying supine), compared to a median displacement of 3.8 mm in regions more prone to motion in the training; and iii) the synthetic motion exhibited predominant directionality consistent with the training set, resulting in larger motion in the superior-inferior direction (median and maximum amplitude of 4.58 mm and 20 mm, > 2x larger than the two remaining direction). Together, the proposed framework shows the feasibility for realistic motion simulation and synthesis of variable CBCT data.

Context-Aware, Reference-Free Local Motion Metric for CBCT Deformable Motion Compensation.

Deformable motion is one of the main challenges to image quality in interventional cone beam CT (CBCT). Autofocus methods have been successfully applied for deformable motion compensation in CBCT, using multi-region joint optimization approaches that leverage the moderately smooth spatial variation motion of the deformable motion field with a local neighborhood. However, conventional autofocus metrics enforce images featuring sharp image-appearance, but do not guarantee the preservation of anatomical structures. Our previous work (DL-VIF) showed that deep convolutional neural networks (CNNs) can reproduce metrics of structural similarity (visual information fidelity - VIF), removing the need for a matched motion-free reference, and providing quantification of motion degradation and structural integrity. Application of DL-VIF within local neighborhoods is challenged by the large variability of local image content across a CBCT volume, and requires global context information for successful evaluation of motion effects. In this work, we propose a novel deep autofocus metric, based on a context-aware, multi-resolution, deep CNN design. In addition to the inclusion of contextual information, the resulting metric generates a voxel-wise distribution of reference-free VIF values. The new metric, denoted CADL-VIF, was trained on simulated CBCT abdomen scans with deformable motion at random locations and with amplitude up to 30 mm. The CADL-VIF achieved good correlation with the ground truth VIF map across all test cases with R2 = 0.843 and slope = 0.941. When integrated into a multi-ROI deformable motion compensation method, CADL-VIF consistently reduced motion artifacts, yielding an average increase in SSIM of 0.129 in regions with severe motion and 0.113 in regions with mild motion. This work demonstrated the capability of CADL-VIF to recognize anatomical structures and penalize unrealistic images, which is a key step in developing reliable autofocus for complex deformable motion compensation in CBCT.

Targeted Deformable Motion Compensation for Vascular Interventional Cone-Beam CT Imaging.

Purpose: Cone-beam CT has become commonplace for 3D guidance in interventional radiology (IR), especially for vascular procedures in which identification of small vascular structures is crucial. However, its long image acquisition time poses a limit to image quality due to soft-tissue deformable motion that hampers visibility of small vessels. Autofocus motion compensation has shown promising potential for soft-tissue deformable motion compensation, but it lacks specific target to the imaging task. This work presents an approach for deformable motion compensation targeted at imaging of vascular structures. Methods: The proposed method consists on a two-stage framework for: i) identification of contrast-enhanced blood vessels in 2D projection data and delineation of an approximate region covering the vascular target in the volume space, and, ii) a novel autofocus approach including a metric designed to promote the presence of vascular structures acting solely in the region of interest. The vesselness of the image is quantified via evaluation of the properties of the 3D image Hessian, yielding a vesselness filter that gives larger values to voxels candidate to be part of a tubular structure. A cost metric is designed to promote large vesselness values and spatial sparsity, as expected in regions of fine vascularity. A targeted autofocus method was designed by combining the presented metric with a conventional autofocus term acting outside of the region of interest. The resulting method was evaluated on simulated data including synthetic vascularity merged with real anatomical features obtained from MDCT data. Further evaluation was obtained in two clinical datasets obtained during TACE procedures with a robotic C-arm (Artis Zeego, Siemens Healthineers). Results: The targeted vascular autofocus effectively restored the shape and contrast of the contrast-enhanced vascularity in the simulation cases, resulting in improved visibility and reduced artifacts. Segmentations performed with a single threshold value on the target vascular regions yielded a net increase of up to 42% in DICE coefficient computed against the static reference. Motion compensation in clinical datasets resulted in improved visibility of vascular structures, observed in maximum intensity projections of the contrast-enhanced liver vessel tree. Conclusion: Targeted motion compensation for vascular imaging showed promising performance for increased identification of small vascular structures in presence of motion. The development of autofocus metrics and methods tailored to vascular imaging opens the way for reliable compensation of deformable motion while preserving the integrity of anatomical structures in the image.

Analysis of Fourier-domain task-based detectability index in tomosynthesis and cone-beam CT in relation to human observer performance.

PURPOSE: Design and optimization of medical imaging systems benefit from accurate theoretical modeling that identifies the physical factors governing image quality, particularly in the early stages of system development. This work extends Fourier metrics of imaging performance and detectability index (d') to tomosynthesis and cone-beam CT (CBCT) and investigates the extent to which d' is a valid descriptor of task-based imaging performance as assessed by human observers, METHODS: The detectability index for tasks presented in 2D slices (d'(slice)) was derived from 3D cascaded systems analysis of tomosynthesis and CBCT. Anatomical background noise measured in a physical phantom presenting power-law spectral density was incorporated in the "generalized" noise-equivalent quanta. Theoretical calculations of d'(slice) were performed as a function of total angular extent (theta(tot)) of source-detector orbit ranging 10 degrees - 360 degrees under two acquisition schemes: (i) Constant angular separation between projections (constant-delta theta), giving variable number of projections (N(proj)) and dose vs theta(tot) and (ii) constant number of projections (constant-N(proj)), giving constant dose (but variable angular sampling) with theta(tot). Five simple observer models were investigated: Prewhitening (PW), prewhitening with eye filter and internal noise (PWEi), nonprewhitening (NPW), nonprewhitening with eye filter (NPWE), and nonprewhitening with eye filter and internal noise (NPWEi). Human observer performance was measured in 9AFC tests for five simple imaging tasks presented within uniform and power-law clutter backgrounds. Measurements (from 9AFC tests) and theoretical calculations (from cascaded systems analysis of d'(slice)) were compared in terms of area under the ROC curve (A(z)) RESULTS: Reasonable correspondence between theoretical calculations and human observer performance was achieved for all imaging tasks over the broad range of experimental conditions and acquisition schemes. The PW and PWEi observer models tended to overestimate detectability, while the various NPW models predicted observer performance fairly well, with NPWEi giving the best overall agreement. Detectability was shown to increase with theta(tot) due to the reduction of out-of-plane clutter, reaching a plateau after a particular theta(tot) that depended on the imaging task. Depending on the acquisition scheme, however (i.e., constant-N(proj) or delta theta), detectability was seen in some cases to decline at higher theta(tot) due to tradeoffs among quantum noise, background clutter, and view sampling. CONCLUSIONS: Generalized detectability index derived from a 3D cascaded systems model shows reasonable correspondence with human observer performance over a fairly broad range of imaging tasks and conditions, although discrepancies were observed in cases relating to orbits intermediate to 180 degrees and 360 degrees. The basic correspondence of theoretical and measured performance supports the application of such a theoretical framework for system design and optimization of tomosynthesis and CBCT.

Task-based modeling and optimization of a cone-beam CT scanner for musculoskeletal imaging.

PURPOSE: This work applies a cascaded systems model for cone-beam CT imaging performance to the design and optimization of a system for musculoskeletal extremity imaging. The model provides a quantitative guide to the selection of system geometry, source and detector components, acquisition techniques, and reconstruction parameters. METHODS: The model is based on cascaded systems analysis of the 3D noise-power spectrum (NPS) and noise-equivalent quanta (NEQ) combined with factors of system geometry (magnification, focal spot size, and scatter-to-primary ratio) and anatomical background clutter. The model was extended to task-based analysis of detectability index (d') for tasks ranging in contrast and frequency content, and d' was computed as a function of system magnification, detector pixel size, focal spot size, kVp, dose, electronic noise, voxel size, and reconstruction filter to examine trade-offs and optima among such factors in multivariate analysis. The model was tested quantitatively versus the measured NPS and qualitatively in cadaver images as a function of kVp, dose, pixel size, and reconstruction filter under conditions corresponding to the proposed scanner. RESULTS: The analysis quantified trade-offs among factors of spatial resolution, noise, and dose. System magnification (M) was a critical design parameter with strong effect on spatial resolution, dose, and x-ray scatter, and a fairly robust optimum was identified at M ∼ 1.3 for the imaging tasks considered. The results suggested kVp selection in the range of ∼65-90 kVp, the lower end (65 kVp) maximizing subject contrast and the upper end maximizing NEQ (90 kVp). The analysis quantified fairly intuitive results-e.g., ∼0.1-0.2 mm pixel size (and a sharp reconstruction filter) optimal for high-frequency tasks (bone detail) compared to ∼0.4 mm pixel size (and a smooth reconstruction filter) for low-frequency (soft-tissue) tasks. This result suggests a specific protocol for 1 × 1 (full-resolution) projection data acquisition followed by full-resolution reconstruction with a sharp filter for high-frequency tasks along with 2 × 2 binning reconstruction with a smooth filter for low-frequency tasks. The analysis guided selection of specific source and detector components implemented on the proposed scanner. The analysis also quantified the potential benefits and points of diminishing return in focal spot size, reduced electronic noise, finer detector pixels, and low-dose limits of detectability. Theoretical results agreed quantitatively with the measured NPS and qualitatively with evaluation of cadaver images by a musculoskeletal radiologist. CONCLUSIONS: A fairly comprehensive model for 3D imaging performance in cone-beam CT combines factors of quantum noise, system geometry, anatomical background, and imaging task. The analysis provided a valuable, quantitative guide to design, optimization, and technique selection for a musculoskeletal extremities imaging system under development.

Mobile C-arm cone-beam CT for guidance of spine surgery: image quality, radiation dose, and integration with interventional guidance.

PURPOSE: A flat-panel detector based mobile isocentric C-arm for cone-beam CT (CBCT) has been developed to allow intraoperative 3D imaging with sub-millimeter spatial resolution and soft-tissue visibility. Image quality and radiation dose were evaluated in spinal surgery, commonly relying on lower-performance image intensifier based mobile C-arms. Scan protocols were developed for task-specific imaging at minimum dose, in-room exposure was evaluated, and integration of the imaging system with a surgical guidance system was demonstrated in preclinical studies of minimally invasive spine surgery. METHODS: Radiation dose was assessed as a function of kilovolt (peak) (80-120 kVp) and milliampere second using thoracic and lumbar spine dosimetry phantoms. In-room radiation exposure was measured throughout the operating room for various CBCT scan protocols. Image quality was assessed using tissue-equivalent inserts in chest and abdomen phantoms to evaluate bone and soft-tissue contrast-to-noise ratio as a function of dose, and task-specific protocols (i.e., visualization of bone or soft-tissues) were defined. Results were applied in preclinical studies using a cadaveric torso simulating minimally invasive, transpedicular surgery. RESULTS: Task-specific CBCT protocols identified include: thoracic bone visualization (100 kVp; 60 mAs; 1.8 mGy); lumbar bone visualization (100 kVp; 130 mAs; 3.2 mGy); thoracic soft-tissue visualization (100 kVp; 230 mAs; 4.3 mGy); and lumbar soft-tissue visualization (120 kVp; 460 mAs; 10.6 mGy)--each at (0.3 x 0.3 x 0.9 mm3) voxel size. Alternative lower-dose, lower-resolution soft-tissue visualization protocols were identified (100 kVp; 230 mAs; 5.1 mGy) for the lumbar region at (0.3 x 0.3 x 1.5 mm3) voxel size. Half-scan orbit of the C-arm (x-ray tube traversing under the table) was dosimetrically advantageous (prepatient attenuation) with a nonuniform dose distribution (-2 x higher at the entrance side than at isocenter, and -3-4 lower at the exit side). The in-room dose (microsievert) per unit scan dose (milligray) ranged from -21 microSv/mGy on average at tableside to -0.1 microSv/mGy at 2.0 m distance to isocenter. All protocols involve surgical staff stepping behind a shield wall for each CBCT scan, therefore imparting -zero dose to staff. Protocol implementation in preclinical cadaveric studies demonstrate integration of the C-arm with a navigation system for spine surgery guidance-specifically, minimally invasive vertebroplasty in which the system provided accurate guidance and visualization of needle placement and bone cement distribution. Cumulative dose including multiple intraoperative scans was -11.5 mGy for CBCT-guided thoracic vertebroplasty and -23.2 mGy for lumbar vertebroplasty, with dose to staff at tableside reduced to -1 min of fluoroscopy time (-4(0-60 microSv), compared to 5-11 min for the conventional approach. CONCLUSIONS: Intraoperative CBCT using a high-performance mobile C-arm prototype demonstrates image quality suitable to guidance of spine surgery, with task-specific protocols providing an important basis for minimizing radiation dose, while maintaining image quality sufficient for surgical guidance. Images demonstrate a significant advance in spatial resolution and soft-tissue visibility, and CBCT guidance offers the potential to reduce fluoroscopy reliance, reducing cumulative dose to patient and staff. Integration with a surgical guidance system demonstrates precise tracking and visualization in up-to-date images (alleviating reliance on preoperative images only), including detection of errors or suboptimal surgical outcomes in the operating room.

A dedicated cone-beam CT system for musculoskeletal extremities imaging: design, optimization, and initial performance characterization.

PURPOSE: This paper reports on the design and initial imaging performance of a dedicated cone-beam CT (CBCT) system for musculoskeletal (MSK) extremities. The system complements conventional CT and MR and offers a variety of potential clinical and logistical advantages that are likely to be of benefit to diagnosis, treatment planning, and assessment of therapy response in MSK radiology, orthopaedic surgery, and rheumatology. METHODS: The scanner design incorporated a host of clinical requirements (e.g., ability to scan the weight-bearing knee in a natural stance) and was guided by theoretical and experimental analysis of image quality and dose. Such criteria identified the following basic scanner components and system configuration: a flat-panel detector (FPD, Varian 3030+, 0.194 mm pixels); and a low-power, fixed anode x-ray source with 0.5 mm focal spot (SourceRay XRS-125-7K-P, 0.875 kW) mounted on a retractable C-arm allowing for two scanning orientations with the capability for side entry, viz. a standing configuration for imaging of weight-bearing lower extremities and a sitting configuration for imaging of tensioned upper extremity and unloaded lower extremity. Theoretical modeling employed cascaded systems analysis of modulation transfer function (MTF) and detective quantum efficiency (DQE) computed as a function of system geometry, kVp and filtration, dose, source power, etc. Physical experimentation utilized an imaging bench simulating the scanner geometry for verification of theoretical results and investigation of other factors, such as antiscatter grid selection and 3D image quality in phantom and cadaver, including qualitative comparison to conventional CT. RESULTS: Theoretical modeling and benchtop experimentation confirmed the basic suitability of the FPD and x-ray source mentioned above. Clinical requirements combined with analysis of MTF and DQE yielded the following system geometry: a -55 cm source-to-detector distance; 1.3 magnification; a 20 cm diameter bore (20 x 20 x 20 cm3 field of view); total acquisition arc of -240 degrees. The system MTF declines to 50% at -1.3 mm(-1) and to 10% at -2.7 mm(-1), consistent with sub-millimeter spatial resolution. Analysis of DQE suggested a nominal technique of 90 kVp (+0.3 mm Cu added filtration) to provide high imaging performance from -500 projections at less than -0.5 kW power, implying -6.4 mGy (0.064 mSv) for low-dose protocols and -15 mGy (0.15 mSv) for high-quality protocols. The experimental studies show improved image uniformity and contrast-to-noise ratio (without increase in dose) through incorporation of a custom 10:1 GR antiscatter grid. Cadaver images demonstrate exquisite bone detail, visualization of articular morphology, and soft-tissue visibility comparable to diagnostic CT (10-20 HU contrast resolution). CONCLUSIONS: The results indicate that the proposed system will deliver volumetric images of the extremities with soft-tissue contrast resolution comparable to diagnostic CT and improved spatial resolution at potentially reduced dose. Cascaded systems analysis provided a useful basis for system design and optimization without costly repeated experimentation. A combined process of design specification, image quality analysis, clinical feedback, and revision yielded a prototype that is now awaiting clinical pilot studies. Potential advantages of the proposed system include reduced space and cost, imaging of load-bearing extremities, and combined volumetric imaging with real-time fluoroscopy and digital radiography.

Application of a Novel Ultra-High Resolution Multi-Detector CT in Quantitative Imaging of Trabecular Microstructure.

PURPOSE: To evaluate the performance of a novel ultra-high resolution multi-detector CT scanner (Canon Aquilion Precision UHR CT), capable of visualizing ~150 µm details, in quantitative assessment of bone microarchitecture. Compared to conventional CT, the spatial resolution of UHR CT begins to approach the size of the trabeculae. This might enable measurements of microstructural correlates of osteoporosis, osteoarthritis, and other bone disease. METHODS: The UHR CT system features a 160-row x-ray detector with 250×250 µm pixels (measured at isocenter) and a custom-designed x-ray source with a 0.4×0.5 mm focal spot. Visualization of high contrast details down to ~150 µm has been achieved on this device, which is now commercially available for clinical use. To evaluate the performance of UHR CT in quantification of bone microstructure, we imaged a variety of human bone samples (including ulna, radius, and vertebrae) embedded in a ~16 cm diameter plastic cylinder and in an anthropomorphic thorax phantom (QRM-Thorax, QRM Gmbh). Helical UHR CT acquisitions (120 kVp tube voltage) were acquired at scan exposures of 375 mAs - 5 mAs. For comparison, the samples were also imaged using a Normal Resolution (NR) mode available on the scanner, involving 500 µm slice thickness, exposure of 50 mAs, and a focal spot of 0.6×1.3 mm. We obtained micro-CT (µCT) of the bone samples at ~28 µm voxel size as a gold-standard reference. Geometric measurements of bone microstructure were performed in 17 regions-of-interests (ROIs) distributed throughout the bones of the phantoms; image registration was used to place the ROIs at corresponding locations in the UHR CT and NR CT. Trabecular thickness Tb.Th, spacing Tb.Sp, and Bone Volume fraction BvTv were obtained. The UHR and NR imaging protocols were compared terms of correlations to µCT and error of trabecular measurements. The effect of dose on trabecular morphometry was also studied for the UHR CT. Furthermore, we evaluated the sensitivity of texture features of trabecular bone (recently proposed as an alternative to geometric indices of microstructure) to imaging protocol. Image texture evaluation was performed using ~150 regions of interest (ROIs) across all bone samples. Three-dimensional Gray Level Co-occurrence Matrix (GLCM) and Gray Level Run Length Matrix (GLRM) features were extracted for each ROI. We analyzed correlation and concordance correlation coefficient (CCC) of the mean ROI values of texture features obtained using the UHR and NR modes. RESULTS: UHR CT reconstructions of bone samples clearly demonstrated improved visualization of the trabeculae compared to NR CT. UHR CT achieved substantially better correlations for all three metrics of bone microstructure, in particular for BvTv (correlation coefficient of 0.91 for UHR CT compared to 0.84 for NR CT) and TbSp (correlation of 0.74 for UHR CT and 0.047 for NR CT). The error obtained with UHR CT was generally smaller than that of NR CT. For TbSp, the mean deviation from µCT (averaged across all bone samples) was only ~0.07 for UHR CT, compared to 0.25 for NR CT. Analysis of reproducibility of texture features of trabecular bone between UHR CT and NR CT revealed fair correlations (>0.7) for the majority of GLCM features, but relatively poor CCC (e.g. 0.02 for Energy and 0.04 for Entropy). The magnitude of texture metrics is particularly affected by the enhanced spatial resolution of UHR CT. CONCLUSION: The recently introduced UHR CT achieves improved correlation and reduced error in measurements of trabecular bone microstructure compared to conventional resolution CT. Future development of diagnostic strategies based on textural biomarkers derived from UHR CT will need to account for potential sensitivity of texture features to image resolution.

Quantitative Assessment of Weight-Bearing Fracture Biomechanics Using Extremity Cone-Beam CT.

PURPOSE: We investigate an application of multisource extremity Cone-Beam CT (CBCT) with capability of weight-bearing tomographic imaging to obtain quantitative measurements of load-induced deformation of metal internal fixation hardware (e.g. tibial plate). Such measurements are desirable to improve the detection of delayed fusion or non-union of fractures, potentially facilitating earlier return to weight-bearing activities. METHODS: To measure the deformation, we perform a deformable 3D-2D registration of a prior model of the implant to its CBCT projections under load-bearing. This Known-Component Registration (KC-Reg) framework avoids potential errors that emerge when the deformation is estimated directly from 3D reconstructions with metal artifacts. The 3D-2D registration involves a free-form deformable (FFD) point cloud model of the implant and a 3D cubic B-spline representation of the deformation. Gradient correlation is used as the optimization metric for the registration. The proposed approach was tested in experimental studies on the extremity CBCT system. A custom jig was designed to apply controlled axial loads to a fracture model, emulating weight-bearing imaging scenarios. Performance evaluation involved a Sawbone tibia phantom with an ~4 mm fracture gap. The model was fixed with a locking plate and imaged under five loading conditions. To investigate performance in the presence of confounding background gradients, additional experiments were performed with a pre-deformed femoral plate placed in a water bath with Ca bone mineral density inserts. Errors were measured using eight reference BBs for the tibial plate, and surface point distances for the femoral plate, where a prior model of deformed implant was available for comparison. RESULTS: Both in the loaded tibial plate case and for the femoral plate with confounding background gradients, the proposed KC-Reg framework estimated implant deformations with errors of <0.2 mm for the majority of the investigated deformation magnitudes (error range 0.14 - 0.25 mm). The accuracy was comparable between 3D-2D registrations performed from 12 x-ray views and registrations obtained from as few as 3 views. This was likely enabled by the unique three-source x-ray unit on the extremity CBCT scanner, which implements two off-central-plane focal spots that provided oblique views of the field-of-view to aid implant pose estimation. CONCLUSION: Accurate measurements of fracture hardware deformations under physiological weight-bearing are feasible using an extremity CBCT scanner and FFD 3D-2D registration. The resulting deformed implant models can be incorporated into tomographic reconstructions to reduce metal artifacts and improve quantification of the mineral content of fracture callus in CBCT volumes.

Cone-beam CT for imaging of the head/brain: Development and assessment of scanner prototype and reconstruction algorithms.

PURPOSE: Our aim was to develop a high-quality, mobile cone-beam computed tomography (CBCT) scanner for point-of-care detection and monitoring of low-contrast, soft-tissue abnormalities in the head/brain, such as acute intracranial hemorrhage (ICH). This work presents an integrated framework of hardware and algorithmic advances for improving soft-tissue contrast resolution and evaluation of its technical performance with human subjects. METHODS: Four configurations of a CBCT scanner prototype were designed and implemented to investigate key aspects of hardware (including system geometry, antiscatter grid, bowtie filter) and technique protocols. An integrated software pipeline (c.f., a serial cascade of algorithms) was developed for artifact correction (image lag, glare, beam hardening and x-ray scatter), motion compensation, and three-dimensional image (3D) reconstruction [penalized weighted least squares (PWLS), with a hardware-specific statistical noise model]. The PWLS method was extended in this work to accommodate multiple, independently moving regions with different resolution (to address both motion compensation and image truncation). Imaging performance was evaluated quantitatively and qualitatively with 41 human subjects in the neurosciences critical care unit (NCCU) at our institution. RESULTS: The progression of four scanner configurations exhibited systematic improvement in the quality of raw data by variations in system geometry (source-detector distance), antiscatter grid, and bowtie filter. Quantitative assessment of CBCT images in 41 subjects demonstrated: ~70% reduction in image nonuniformity with artifact correction methods (lag, glare, beam hardening, and scatter); ~40% reduction in motion-induced streak artifacts via the multi-motion compensation method; and ~15% improvement in soft-tissue contrast-to-noise ratio (CNR) for PWLS compared to filtered backprojection (FBP) at matched resolution. Each of these components was important to improve contrast resolution for point-of-care cranial imaging. CONCLUSIONS: This work presents the first application of a high-quality, point-of-care CBCT system for imaging of the head/ brain in a neurological critical care setting. Hardware configuration iterations and an integrated software pipeline for artifacts correction and PWLS reconstruction mitigated artifacts and noise to achieve image quality that could be valuable for point-of-care detection and monitoring of a variety of intracranial abnormalities, including ICH and hydrocephalus.

Quantitative Cone-Beam CT of Bone Mineral Density Using Model-Based Reconstruction.

PURPOSE: We develop and validate a model-based framework for artifact correction and image reconstruction to enable application of Cone-Beam CT (CBCT) in quantitative assessment of bone mineral density (BMD). Compared to conventional quantitative CT, this approach does not require a BMD calibration phantom in the field-of-view during an object scan. METHODS: The quantitative CBCT (qCBCT) imaging framework combined fast Monte Carlo (MC) scatter estimation, accurate models of detector response, and polyenergetic Poisson likelihood (PolyPL, Elbakri et al 2003). The underlying object model assumed that the tissues were ideal mixtures of water and calcium carbonate (CaCO3). Accuracy and reproducibility of qCBCT was evaluated in benchtop test-retest studies emulating a compact extremity CBCT system (axis-detector distance=56 cm, 90 kVp x-ray beam, ~16 mGy central dose). Various arrangements of Ca inserts (50-500 mg/mL) were placed in water cylinders of ~11 cm to ~15 cm diameter and scanned at multiple positions inside the field-of-view for a total of 20 configurations. In addition, a cadaveric ankle was imaged in five configurations (with and without Ca inserts and water bath). Coefficient of variation (CV) of BMD values across different experimental configurations was used to assess reproducibility under varying imaging conditions. The performance of the model-based qCBCT framework (MC + PolyPL) was compared to FDK with water beam hardening correction and MC scatter correction. RESULTS: The PolyPL framework achieved accuracy of 20 mg/mL or better across all insert densities and experimental configurations. By comparison, the accuracy of the FDK-based BMD estimates deteriorated with higher mineralization, resulting in ~120 mg/mL error for a 500 mg/mL Ca insert. Additionally, the model-based approach mitigated residual streaks that were present in FDK reconstructions. The CV of both methods was ~15% at 50 mg/mL Ca and less than ~8% for higher density inserts, where the PolyPL framework achieved 20-25% lower CV than the FDK-based approach. CONCLUSION: Accurate and reproducible BMD measurements can be achieved in extremity CBCT, supporting clinical applications in quantitative monitoring of fracture risk, osteoporosis treatment, and early osteoarthritis.

Known-Component Model-Based Material Decomposition for Dual Energy Imaging of Bone Compositions in the Presence of Metal Implant.

Dual energy computed tomography (DE CT) is a promising technology for the assessment of bone compositions. One of potential applications involves evaluations of fracture healing using longitudinal measurements of callus mineralization. However, imaging of fractures is often challenged by the presence of metal fixation hardware. In this work, we report on a new simultaneous DE reconstruction-decomposition algorithm that integrates the previously introduced Model-Based Material Decomposition (MBMD) with a Known-Component (KC) framework to mitigate metal artifacts. The algorithm was applied to the DE data obtained on a dedicated extremity cone-beam CT (CBCT) with capability for weight-bearing imaging. To acquire DE projections in a single gantry rotation, we exploited a unique multisource design of the system, where three X-ray sources were mounted parallel to the axis of rotation. The central source provided high energy (HE) data at 120 kVp, while the two remaining sources were operated at a low energy (LE) of 60 kVp. This novel acquisition trajectory further motivates the use of MBMD to accommodate this complex DE sampling pattern. The algorithm was validated in a simulation study using a digital extremity phantom. The phantom consisted of a water background with an insert containing varying concentrations of calcium (50 - 175 mg/mL). Two configurations of titanium implants were considered: a fixation plate and an intramedullary nail. The accuracy of calcium-water decompositions obtained with the proposed KC-MBMD algorithm was compared to MBMD without metal component model. Metal artifacts were almost completely removed by KC-MBMD. Relative absolute errors of calcium concentration in the vicinity of metal were 6% - 31% for KC-MBMD (depending on the calcium insert and implant configuration), compared favorably to 48% - 273% for MBMD. Moreover, accuracy of concentration estimates for KC-MBMD in the presence of metal implant approached that of MBMD in a configuration without implant (6%-23%). The proposed algorithm achieved accurate DE material decomposition in the presence of metal implants using a non-conventional, axial multisource DE acquisition pattern.

Coupled Active Shape Models for Automated Segmentation and Landmark Localization in High-Resolution CT of the Foot and Ankle.

PURPOSE: We develop an Active Shape Model (ASM) framework for automated bone segmentation and anatomical landmark localization in weight-bearing Cone-Beam CT (CBCT). To achieve a robust shape model fit in narrow joint spaces of the foot (0.5 - 1 mm), a new approach for incorporating proximity constraints in ASM (coupled ASM, cASM) is proposed. METHODS: In cASM, shape models of multiple adjacent foot bones are jointly fit to the CBCT volume. This coupling enables checking for proximity between the evolving shapes to avoid situations where a conventional single-bone ASM might erroneously fit to articular surfaces of neighbouring bones. We used 21 extremity CBCT scans of the weight-bearing foot to compare segmentation and landmark localization accuracy of ASM and cASM in leave-one-out validation. Each scan was used as a test image once; shape models of calcaneus, talus, navicular, and cuboid were built from manual surface segmentations of the remaining 20 scans. The models were augmented with seven anatomical landmarks used for common measurements of foot alignment. The landmarks were identified in the original CBCT volumes and mapped onto mean bone shape surfaces. ASM and cASM were run for 100 iterations, and the number of principal shape components was increased every 10 iterations. Automated landmark localization was achieved by applying known point correspondences between landmark vertices on the mean shape and vertices of the final active shape segmentation of the test image. RESULTS: Root Mean Squared (RMS) error of bone surface segmentation improved from 3.6 mm with conventional ASM to 2.7 mm with cASM. Furthermore, cASM achieved convergence (no change in RMS error with iteration) after ~40 iterations of shape fitting, compared to ~60 iterations for ASM. Distance error in landmark localization was 25% to 55% lower (depending on the landmark) with cASM than with ASM. The importance of using a coupled model is underscored by the finding that cASM detected and corrected collisions between evolving shapes in 50% to 80% (depending on the bone) of shape model fits. CONCLUSION: The proposed cASM framework improves accuracy of shape model fits, especially in complexes of tightly interlocking, articulated joints. The approach enables automated anatomical analysis in volumetric imaging of the foot and ankle, where narrow joint spaces challenge conventional shape models.

Quantitative Evaluation of Bone Microstructure using High-Resolution Extremity Cone-Beam CT with a CMOS Detector.

PURPOSE: A high-resolution cone-beam CT (CBCT) system for extremity imaging has been developed using a custom complementary metal-oxide-semiconductor (CMOS) x-ray detector. The system has spatial resolution capability beyond that of recently introduced clinical orthopedic CBCT. We evaluate performance of this new scanner in quantifying trabecular microstructure in subchondral bone of the knee. METHODS: The high-resolution scanner uses the same mechanical platform as the commercially available Carestream OnSight 3D extremity CBCT, but replaces the conventional amorphous silicon flat-panel detector (a-Si:H FPD with 0.137 mm pixels and a ~0.7 mm thick scintillator) with a Dalsa Xineos3030 CMOS detector (0.1 mm pixels and a custom 0.4 mm scintillator). The CMOS system demonstrates ~40% improved spatial resolution (FWHM of a ~0.1 mm tungsten wire) and ~4× faster scan time than FPD-based extremity CBCT (FPD-CBCT). To investigate potential benefits of this enhanced spatial resolution in quantitative assessment of bone microstructure, 26 trabecular core samples were obtained from four cadaveric tibias and imaged using FPD-CBCT (75 µm voxels), CMOS-CBCT (75 µm voxels), and reference micro-CT (µCT, 15 µm voxels). CBCT bone segmentations were obtained using local Bernsen's thresholding combined with global histogram-based pre-thresholding; µCT segmentation involved Otsu's method. Measurements of trabecular thickness (Tb.Th), spacing (Tb.Sp), number (Tb.N) and bone volume (BV/TV) were performed in registered regions of interest in the segmented CBCT and µCT reconstructions. RESULTS: CMOS-CBCT achieved noticeably improved delineation of trabecular detail compared to FPD-CBCT. Correlations with reference µCT for metrics of bone microstructure were better for CMOS-CBCT than FPD-CBCT, in particular for Tb.Th (increase in Pearson correlation from 0.84 with FPD-CBCT to 0.96 with CMOS-CBCT) and Tb.Sp (increase from 0.80 to 0.85). This improved quantitative performance of CMOS-CBCT is accompanied by a reduction in scan time, from ~60 sec for a clinical high resolution protocol on FPD-CBCT to ~17 sec for CMOS-CBCT. CONCLUSION: The CMOS-based extremity CBCT prototype achieves improved performance in quantification of bone microstructure, while retaining other diagnostic capabilities of its FPD-based precursor, including weight-bearing imaging. The new system offers a promising platform for quantitative imaging of skeletal health in osteoporosis and osteoarthritis.