Thomas E. Hampshire

Registration of the endoluminal surfaces of the colon derived from prone and supine CT colonography

PURPOSE Computed tomographic (CT) colonography is a relatively new technique for detecting bowel cancer or potentially precancerous polyps. CT scanning is combined with three-dimensional (3D) image reconstruction to produce a virtual endoluminal representation similar to optical colonoscopy. Because retained fluid and stool can mimic pathology, CT data are acquired with the bowel cleansed and insufflated with gas and patient in both prone and supine positions. Radiologists then match visually endoluminal locations between the two acquisitions in order to determine whether apparent pathology is real or not. This process is hindered by the fact that the colon, essentially a long tube, can undergo considerable deformation between acquisitions. The authors present a novel approach to automatically establish spatial correspondence between prone and supine endoluminal colonic surfaces after surface parameterization, even in the case of local colon collapse. METHODS The complexity of the registration task was reduced from a 3D to a 2D problem by mapping the surfaces extracted from prone and supine CT colonography onto a cylindrical parameterization. A nonrigid cylindrical registration was then performed to align the full colonic surfaces. The curvature information from the original 3D surfaces was used to determine correspondence. The method can also be applied to cases with regions of local colonic collapse by ignoring the collapsed regions during the registration. RESULTS Using a development set, suitable parameters were found to constrain the cylindrical registration method. Then, the same registration parameters were applied to a different set of 13 validation cases, consisting of 8 fully distended cases and 5 cases exhibiting multiple colonic collapses. All polyps present were well aligned, with a mean (+/- std. dev.) registration error of 5.7 (+/- 3.4) mm. An additional set of 1175 reference points on haustral folds spread over the full endoluminal colon surfaces resulted in an error of 7.7 (+/- 7.4) mm. Here, 82% of folds were aligned correctly after registration with a further 15% misregistered by just onefold. CONCLUSIONS The proposed method reduces the 3D registration task to a cylindrical registration representing the endoluminal surface of the colon. Our algorithm uses surface curvature information as a similarity measure to drive registration to compensate for the large colorectal deformations that occur between prone and supine data acquisitions. The method has the potential to both enhance polyp detection and decrease the radiologists interpretation time.

Endoluminal surface registration for CT colonography using haustral fold matching

Graphical abstract

CT Colonography: External Clinical Validation of an Algorithm for Computer-assisted Prone and Supine Registration

PURPOSE To perform external validation of a computer-assisted registration algorithm for prone and supine computed tomographic (CT) colonography and to compare the results with those of an existing centerline method. MATERIALS AND METHODS All contributing centers had institutional review board approval; participants provided informed consent. A validation sample of CT colonographic examinations of 51 patients with 68 polyps (6-55 mm) was selected from a publicly available, HIPAA compliant, anonymized archive. No patients were excluded because of poor preparation or inadequate distension. Corresponding prone and supine polyp coordinates were recorded, and endoluminal surfaces were registered automatically by using a computer algorithm. Two observers independently scored three-dimensional endoluminal polyp registration success. Results were compared with those obtained by using the normalized distance along the colonic centerline (NDACC) method. Pairwise Wilcoxon signed rank tests were used to compare gross registration error and McNemar tests were used to compare polyp conspicuity. RESULTS Registration was possible in all 51 patients, and 136 paired polyp coordinates were generated (68 polyps) to test the algorithm. Overall mean three-dimensional polyp registration error (mean ± standard deviation, 19.9 mm ± 20.4) was significantly less than that for the NDACC method (mean, 27.4 mm ± 15.1; P = .001). Accuracy was unaffected by colonic segment (P = .76) or luminal collapse (P = .066). During endoluminal review by two observers (272 matching tasks, 68 polyps, prone to supine and supine to prone coordinates), 223 (82%) polyp matches were visible (120° field of view) compared with just 129 (47%) when the NDACC method was used (P < .001). By using multiplanar visualization, 48 (70%) polyps were visible after scrolling ± 15 mm in any multiplanar axis compared with 16 (24%) for NDACC (P < .001). CONCLUSION Computer-assisted registration is more accurate than the NDACC method for mapping the endoluminal surface and matching the location of polyps in corresponding prone and supine CT colonographic acquisitions.

A Probabilistic Method for Estimation of Bowel Wall Thickness in MR Colonography

MRI has recently been applied as a tool to quantitatively evaluate the response to therapy in patients with Crohn’s disease, and is the preferred choice for repeated imaging. Bowel wall thickness on MRI is an important biomarker of underlying inflammatory activity, being abnormally increased in the acute phase and reducing in response to successful therapy; however, a poor level of interobserver agreement of measured thickness is reported and therefore a system for accurate, robust and reproducible measurements is desirable. We propose a novel method for estimating bowel wall-thickness to improve the poor interobserver agreement of the manual procedure. We show that the variability of wall thickness measurement between the algorithm and observer measurements (0.25mm ± 0.81mm) has differences which are similar to observer variability (0.16mm ± 0.64mm).

CT Colonography: Clinical Evaluation of a Method for Automatic Coregistration of Polyps at Follow-up Surveillance Studies

PURPOSE To evaluate the accuracy of a method of automatic coregistration of the endoluminal surfaces at computed tomographic (CT) colonography performed on separate occasions to facilitate identification of polyps in patients undergoing polyp surveillance. MATERIALS AND METHODS Institutional review board and HIPAA approval were obtained. A registration algorithm that was designed to coregister the coordinates of endoluminal colonic surfaces on images from prone and supine CT colonographic acquisitions was used to match polyps in sequential studies in patients undergoing polyp surveillance. Initial and follow-up CT colonographic examinations in 26 patients (35 polyps) were selected and the algorithm was tested by means of two methods, the longitudinal method (polyp coordinates from the initial prone and supine acquisitions were used to identify the expected polyp location automatically at follow-up CT colonography) and the consistency method (polyp coordinates from the initial supine acquisition were used to identify polyp location on images from the initial prone acquisition, then on those for follow-up prone and follow-up supine acquisitions). Two observers measured the Euclidean distance between true and expected polyp locations, and mean per-patient registration accuracy was calculated. Segments with and without collapse were compared by using the Kruskal-Wallace test, and the relationship between registration error and temporal separation was investigated by using the Pearson correlation. RESULTS Coregistration was achieved for all 35 polyps by using both longitudinal and consistency methods. Mean ± standard deviation Euclidean registration error for the longitudinal method was 17.4 mm ± 12.1 and for the consistency method, 26.9 mm ± 20.8. There was no significant difference between these results and the registration error when prone and supine acquisitions in the same study were compared (16.9 mm ± 17.6; P = .451). CONCLUSION Automatic endoluminal coregistration by using an algorithm at initial CT colonography allowed prediction of endoluminal polyp location at subsequent CT colonography, thereby facilitating detection of known polyps in patients undergoing CT colonographic surveillance.

Computer-assisted polyp matching between optical colonoscopy and CT colonography: a phantom study

Potentially precancerous polyps detected with CT colonography (CTC) need to be removed subsequently, using an optical colonoscope (OC). Due to large colonic deformations induced by the colonoscope, even very experienced colonoscopists find it difficult to pinpoint the exact location of the colonoscope tip in relation to polyps reported on CTC. This can cause unduly prolonged OC examinations that are stressful for the patient, colonoscopist and supporting staff. We developed a method, based on monocular 3D reconstruction from OC images, that automatically matches polyps observed in OC with polyps reported on prior CTC. A matching cost is computed, using rigid point-based registration between surface point clouds extracted from both modalities. A 3D printed and painted phantom of a 25 cm long transverse colon segment was used to validate the method on two medium sized polyps. Results indicate that the matching cost is smaller at the correct corresponding polyp between OC and CTC: the value is 3.9 times higher at the incorrect polyp, comparing the correct match between polyps to the incorrect match. Furthermore, we evaluate the matching of the reconstructed polyp from OC with other colonic endoluminal surface structures such as haustral folds and show that there is a minimum at the correct polyp from CTC. Automated matching between polyps observed at OC and prior CTC would facilitate the biopsy or removal of true-positive pathology or exclusion of false-positive CTC findings, and would reduce colonoscopy false-negative (missed) polyps. Ultimately, such a method might reduce healthcare costs, patient inconvenience and discomfort.

CT colonography: inverse-consistent symmetric registration of prone and supine inner colon surfaces

CT colonography interpretation is difficult and time-consuming because fecal residue or fluid can mimic or obscure polyps, leading to diagnostic errors. To compensate for this, it is normal practice to obtain CT data with the patient in prone and supine positions. Repositioning redistributes fecal residue and colonic gas; fecal residue tends to move, while fixed mural pathology does not. The cornerstone of competent interpretation is the matching of corresponding endoluminal locations between prone and supine acquisitions. Robust and accurate automated registration between acquisitions should lead to faster and more accurate detection of colorectal cancer and polyps. Any directional bias when registering the colonic surfaces could lead to incorrect anatomical correspondence resulting in reader error. We aim to reduce directional bias and so increase robustness by adapting a cylindrical registration algorithm to penalize inverse-consistency error, using a symmetric optimization. Using 17 validation cases, the mean inverse-consistency error was reduced significantly by 86%, from 3.3 mm to 0.45 mm. Furthermore, we show improved alignment of the prone and supine colonic surfaces, evidenced by a reduction in the mean-of-squared-differences by 43% overall. Mean registration error, measured at a sparse set of manually selected reference points, remained at the same level as the non-symmetric method (no significant differences). Our results suggest that the inverse-consistent symmetric algorithm performs more robustly than non-symmetric implementation of B-spline registration.

Registration of Prone and Supine CT Colonography Datasets with Differing Endoluminal Distension

Robust registration between prone and supine data acquisitions for CT colonography is pivotal for medical interpretation but a challenging problem, especially in sub-optimally prepared patients. This paper introduces a prone and supine registration method that aims to overcome the difficulties posed by differences in luminal distension and bowel cleansing. The endoluminal surface is iteratively deformed using thin plate spline interpolation in order to increase similarity between prone and supine surfaces. Iterative deformation allows the re-computation of surface curvatures and, therefore, surface features to resemble one another more closely. Therefore, the similarity between surfaces increases with each optimization step when running a subsequent intensity-based registration in cylindrical space. Improved spatial alignment of endoluminal surfaces and better registration accuracies are shown in a limited number of challenging cases.

Registration of Temporally Separated CT Colonography Cases

Robust registration between prone and supine data acquisitions for CT colonography CTC is a useful tool for assessing clinically significant changes but a challenging problem. This is especially the case for polyp follow-up when scans are temporally separated. We investigated the ability of automatic registration to align CTC cases, acquired several months apart. 26 initial and follow-up cases were investigated and registration measured using the locations of 35 polyps in all available scans. Robust non-rigid feature-based initialization allowed registration of prone and supine CTC scans from patient cases not only acquired on the same day but also when acquired several months apart. A mean registration error of 17.4 std. dev. 12.1 mm median 14.9 mm, range 1.7 to 49.7 mm was achieved when transforming polyp locations between longitudinal scans. The level of accuracy achieved was similar to previous studies that aligned CTC images acquired at the same sitting. Automatic registration of follow-up CTC investigations could be a useful adjunct for radiologists interpreting CTC for surveillance of colonic polyps.

Spatial Correspondence between Prone and Supine CT Colonography Images: Creating a Reference Standard

Matching corresponding locations between prone and supine CT colonography CTC images is difficult due to colonic deformations that occur between patient repositioning. We propose a novel method to allow a set of interpreting readers to establish a reference standard by matching corresponding locations in the prone and supine acquisitions. Independent matching of haustral folds was carried out for 17 CTC datasets by three readers, with the final reference standard being achieved in consensus. This resulted in 1743 reference standard points which have been made publicly available, along with the original CTC data at http://cmic.cs.ucl.ac.uk/CTC .