Thomas R. Nelson, Ph.D. Professor of Radiology and Bioengineering
UC San Diego [email protected]
Applications of Image Processing and Registration in Medical Imaging Applications of Image Processing and Registration in Medical ImagingApplications of Image Processing and Registration in Medical Imaging
Strategic Organization of Image Processing
CREDITS:• Philips Ultrasound• GE Medical Systems• Siemens Ultrasound• de Korte et.al., Erasmus University Rotterdam
Filtering
Anatomic Reference
Image series
Patient AtlasRegistration
Visualization
Parameter Estimates
Segmentation
Applications of Image Processing and Registration in Medical Imaging
• Anatomic– Intensity
– Shape
– Speckle pattern
• Functional– Motion
– Temporal variation
– Tissue properties
3
Applications of Image Processing and Registration in Medical Imaging Applications of Image Processing and Registration in Medical Imaging
Breast Density (%)
6.0
5.0
4.0
3.0
2.0
1.0
0.0
0 1-10 >10-25 >25-50 >50-75 >75
5.3
3.4
2.42.2
1.21.0
Rel
ativ
e R
isk
Breast Cancer Risk
Applications of Image Processing and Registration in Medical Imaging
Background:
• One in 6 women will develop breast cancer• Early detection is the most important factor for survival • Most cancers arise in dense ductal tissue• Mammography is the “gold standard” but dense breasts are a challenge• Volume imaging (bCT or VBUS) improves lesion localization• Precision localization improves biopsy results, especially for small lesions• Robotic devices may provide more precise device placement
Applications of Image Processing and Registration in Medical ImagingApplications of Image Processing and Registration in Medical Imaging Applications of Image Processing and Registration in Medical Imaging
Breast Imaging
•Tomographic slices
•Pendant breast
•less discomfort
•better resolution
Building a Breast Imaging Machine
Breast CT - Design / Construction System Modules Acquisition ReconstructionBreast Ultrasound - Design / Construction System Modules Acquisition ReconstructionMammogram Simulation Classification & Extraction CompressionTissue Parameter EstimationImage-Guided Robotic Biopsy
Applications of Image Processing and Registration in Medical Imaging Applications of Image Processing and Registration in Medical Imaging
40 cm
14 cm
Applications of Image Processing and Registration in Medical Imaging
Breast CT Scanner Design - CAD Engineering
Applications of Image Processing and Registration in Medical Imaging
System Control Modules
• interface all sub-systems to master control
• position synchronization
• control timing
• control x-ray on
• interlocks
• acquisition control
Applications of Image Processing and Registration in Medical Imaging
X-ray tube & power supply
• 100 kVp 6.4 mA --> 0.7 kW generator
• 0.4 mm x 0.4 mm focal spot
• Be window
• water cooled heat exchanger
• high voltage cables
• grounding rod
47.5 mm
Applications of Image Processing and Registration in Medical Imaging
X-ray detector
• Solid-state Cs(I)
• TFT detector
• 1x1: 2048 x 1536
• 0.194 mm pixels
• 60 frames per second
• 2x2: 1024 x 768
• 0.388 mm pixels
• 30 frames per second
• 2x4: 1024 x 384
• Dual Gain Mode
• 30 frames per second
Applications of Image Processing and Registration in Medical Imaging
Gantry motion
• motor control (angle & motion)
• interface with x-ray
• interface with detector
• support x-ray tube
• support detector
• precise angular control
Kollmorgen Servo Motor
DDR D081M
13.0 ft-lb continuous torque
32.0 ft-lb peak torque
Applications of Image Processing and Registration in Medical Imaging
Patient support
• provide comfortable support for patient
• provide close access to chest wall
• support weight of large patients
Applications of Image Processing and Registration in Medical Imaging
Data acquisition and analysis
• acquire images through 2! geometry
• incorporate system calibration parameters
• correct images errors
• non-linearity
• pixel drop-out
• perform weighted back-projection algorithm
• correct slices to CT numbers
• provide image orientation
• provide image position
Applications of Image Processing and Registration in Medical Imaging
stationary stand
Pb shot in foam board
BB tracker
path of BBs in sinogram
BB paths are fit to analytical functions
that define CT geometry
central ray
rotation of detector
Applications of Image Processing and Registration in Medical Imaging Applications of Image Processing and Registration in Medical Imaging
Applications of Image Processing and Registration in Medical Imaging Applications of Image Processing and Registration in Medical Imaging
768 x 1024 pixels500 views
512 x 512 pixels300 slices ~(0.5 mm)
Reconstruction Based on Feldkamp Algorithm(written in C)
Applications of Image Processing and Registration in Medical Imaging
Subjective Assessment
resolution
noise
uniformity
distortion
Applications of Image Processing and Registration in Medical Imaging
The Broccoli Test
Applications of Image Processing and Registration in Medical Imaging
Breast CT voxels are 16x Smaller Than Mammography
0.10 mm x 0.10 mm x 50 mm
= 0.50 mm3
mammography breast CT
0.25 mm x 0.25 mm x 0.50 mm
= 0.03 mm3
Applications of Image Processing and Registration in Medical Imaging
E x p o s u re (m A )
Noise
0 . 2 6 0
0 . 1 3 3
0 . 0 9 60 . 0 8 1
0 . 0 5 6
0 . 0 4 4
0 . 0 3 6
0 . 5 1 1 .5 2 3 . 5 5 7
Air Scans
Noise Assessment
Noise
Applications of Image Processing and Registration in Medical Imaging
70 µm nickel-chromium wire
Spatial Resolution
detector pixel size
geometric magnification
Applications of Image Processing and Registration in Medical Imaging
Spatial Resolution
Sp a tia l Fre q u e n c y (1 /m m )
0.0 0.2 0.4 0.6 0.8 1 .0 1 .2 1 .4
MT
F(f)
0.0
0.2
0.4
0.6
0.8
1 .0
1 .2
4 cm8 cm IC
1000 views recon to 5122 matrix
influence of FOV position
Shepp-Logan Filter
Applications of Image Processing and Registration in Medical Imaging
Spatial Resolution
1000 viewsinfluence of reconstruction matrix
S p a tia l F re q u e n c y (1 /m m )
0.0 0.2 0.4 0.6 0.8 1 .0 1 .2 1 .4 1 .6 1 .8 2.0 2.2
MT
F(f)
0.0
0.2
0.4
0.6
0.8
1 .0
1 .2
5122
8002
10242
Shepp-Logan Filter
Applications of Image Processing and Registration in Medical Imaging
Visualization
• slices
• rendering
• interactivity
Applications of Image Processing and Registration in Medical Imaging Applications of Image Processing and Registration in Medical Imaging
CTA0302
Applications of Image Processing and Registration in Medical Imaging
CTA0296 - improved structural detail
mammogram
Applications of Image Processing and Registration in Medical Imaging
CTA0316
Implant
expanded views from adjacent slices
axial coronalsagittal
MLO CC
Applications of Image Processing and Registration in Medical Imaging
CTA0316 - implant + cancer
Implant
expanded views from adjacent slices
axial coronalsagittal
MLO CC
µ-calc
Applications of Image Processing and Registration in Medical Imaging
CTA0415
Applications of Image Processing and Registration in Medical Imaging
CTA0415 - DCIS
Applications of Image Processing and Registration in Medical Imaging
Visualization
• slices
• volume rendering
• interactivity
Building a Breast Imaging Machine
Breast CT - Design / Construction System Modules Acquisition ReconstructionBreast Ultrasound - Design / Construction System Modules Acquisition ReconstructionMammogram Simulation Classification & Extraction CompressionTissue Parameter EstimationImage-Guided Robotic Biopsy
Applications of Image Processing and Registration in Medical Imaging Applications of Image Processing and Registration in Medical Imaging
• Mammography is “gold standard” for breast cancer diagnosis but
uncomfortable and uses ionizing radiation
• Ultrasound is diagnostically useful in dense breasts
• poor standardization limits clinical use
• ultrasound provides valuable biopsy sampling guidance
• Most cancers arise in dense ductal tissue
• ultrasound performs better than mammography
• Small lesions (~3-5 mm) are difficult to biopsy
38
Applications of Image Processing and Registration in Medical Imaging
Design Strategy:
• Image pendant breast
• Use clinical US scanner with high frequency probe
• Stabilize breast without compression
• Automate scan acquisition
• Integrate with breast CT scanner
Performance Parameters Evaluated:
• Spatial and contrast resolution
• Image acquisition time
• Image compounding and speckle reduction
• Volumetric data display
• Evaluate series of test objects
• Evaluate volunteers
Applications of Image Processing and Registration in Medical Imaging
VBUS Master Control
Image Display
Image Correction
Image Reconstruction
Image Control
Image Storage
US Scanner Setup
Image Acquisition
Acquisition Control
Breast Stabilization
Gantry Rotation
US Probe Positioning
Mechanical Control
Applications of Image Processing and Registration in Medical Imaging
Coupling Fluid
Breast Stablizing Cup
Gantry Rotation
Imaging Transducer Gantry
Rotation
Breast Stablizing Cup
Imaging Transducer
Coupling Fluid
Applications of Image Processing and Registration in Medical Imaging
Motor Control, Acquisition &
Reconstruction Computers
Rotation and
Elevation Motors
Scanning Tank,
Laser Alignment
and TransducerWater Reservoir, Pumps
and Control Valves
Pendant Breast Access PortPatient Cushion
Reflector,Transducer, Laser Alignment
and Scanning Tank,
Design Strategy:
• Image pendant breast
• Use clinical US scanner
• Stabilize breast without compression
• Automate scan acquisition
• Volume data review on workstation
Performance Summary:
• Scan acquisition fully automated
• Scan time 20 sec per slice; slice reconstruction time < 100 ms
• Pendant geometry visualizes entire breast
• Images compare favorably with breast CT
Applications of Image Processing and Registration in Medical Imaging
Results:
• Scan acquisition fully automated
• Scan time 18 sec at 20°/sec
• Pendant geometry provides good visualization of entire
breast
• Slice reconstruction time < 100 ms using GPU
• Volume reconstruction time < 5 sec using GPU
• Slice images compare favorably with Breast CT
• Spatial resolution ~ 1 mm
• Volume breast data reviewed on volume workstation
Applications of Image Processing and Registration in Medical Imaging
Gantry Rotation
Breast Stablizing Cup
Imaging Transducer
Coupling Fluid
1 2
4 8 300
Original Scan Opposing Views Reconstructed Slice
Applications of Image Processing and Registration in Medical Imaging
1 cm grid of 2 mm spaghetti in gelatin
Applications of Image Processing and Registration in Medical Imaging
Original Scan ROI Reconstructed Slice
1 cm grid of 2 mm spaghetti in gelatin
Applications of Image Processing and Registration in Medical Imaging
Horizontal ScanVertical Scan
Horizontal
Vertical
Applications of Image Processing and Registration in Medical Imaging
Original Scan Profiles & MTF
Applications of Image Processing and Registration in Medical Imaging
Original US Scan VBUS Scan
Gelatin Test Object
Low Contrast Test Objects
Applications of Image Processing and Registration in Medical Imaging
Cystic MassesCystic Masses
Original US Scan Breast CTVBUS Scan
Breast Test Object (051, CIRS, Norfolk, VA)
VBUS Comparison to Breast CT
Applications of Image Processing and Registration in Medical Imaging
VBUS Scan
Urethane (CIRS, Norfolk, VA) Test Object (courtesy Dr. M. Andre)
High US attenuation (-10 dB)
High US attenuation (-5 dB)
3 mm
8 mm
5 mm
2 mm
5 mm
5 mm
Low Contrast Test Objects
Applications of Image Processing and Registration in Medical Imaging
bCTVBUS - HStandard VBUS - V
Volume Breast Ultrasound
Applications of Image Processing and Registration in Medical Imaging
53
CC CCMLO MLO
Fatty Replacement Breast Fibro-Glandular Breast
Volunteer Scans- Volume Acquisition (~3 mm spacing)
Applications of Image Processing and Registration in Medical Imaging
54Breast Test Objects
Solidified Mineral Oil Breast Test Objects:
• sound speed ~1460 m/s
• attenuation modified by addition of corn starch
• lesions created by H2O bubble injection
• lesion sizes range from 2-15 mm
• skin simulated by rubber compound
• can be imaged by mammography (with compression), CT and ultrasound
Applications of Image Processing and Registration in Medical Imaging
55
VBUS VBUSCTCTMammo
Gel Breast Test Object Modality Comparison
Applications of Image Processing and Registration in Medical Imaging
Fibro-Glandular Breast with TumorMRI
(sagittal)Breast CT
(sagittal)
Breast CT(axial)
chest wall
Mammo Volume SlicesBreast CT Slice
VBUS SliceLCC
nipple
P0003 (VBUS) - P0133 (bCT)
Applications of Image Processing and Registration in Medical Imaging
Volume Slices Volume Slices
chest wall
nipple
chest wall
nipple
P0003 (VBUS) - P0133 (bCT)
OriginalDeconvolution
(Gaussian and point-spread-function)
Building a Breast Imaging Machine
Breast CT - Design / Construction System Modules Acquisition ReconstructionBreast Ultrasound - Design / Construction System Modules Acquisition ReconstructionMammogram Simulation Classification & Extraction CompressionTissue Parameter EstimationImage-Guided Robotic Biopsy
Applications of Image Processing and Registration in Medical Imaging
Applications of Image Processing and Registration in Medical Imaging
Fat
Gland
Skin
Analysis
• segmentation & classification
• histogram analysis
• region growing
• quantification
• skin
• fat
• gland
Applications of Image Processing and Registration in Medical Imaging
60
Fat Gland Skin
CTA0321 - classify & segment
Applications of Image Processing and Registration in Medical Imaging
61
Original Segmented
Applications of Image Processing and Registration in Medical Imaging
62
Applications of Image Processing and Registration in Medical Imaging
63
Applications of Image Processing and Registration in Medical Imaging
64
Applications of Image Processing and Registration in Medical Imaging
65
Applications of Image Processing and Registration in Medical Imaging
66
Original Segmented
Building a Breast Imaging Machine
Breast CT - Design / Construction System Modules Acquisition ReconstructionBreast Ultrasound - Design / Construction System Modules Acquisition ReconstructionMammogram Simulation Classification & Extraction CompressionTissue Parameter EstimationImage-Guided Robotic Biopsy
Applications of Image Processing and Registration in Medical Imaging Applications of Image Processing and Registration in Medical Imaging
Force
Stationary
Primary challenges to simulate mechanical compression of the breast:
• describe the mechanical properties of
breast tissue• tissues present • proper classification • mechanical coefficients for each tissue
• select the appropriate numerical model
• describe the contact between the• compression paddle and the breast skin• mammography unit and the breast skin
Applications of Image Processing and Registration in Medical Imaging Applications of Image Processing and Registration in Medical Imaging
Numerical Compression Methods:
• Evaluated various approaches to compression
• Forward approach – Finite Element Analysis
• Inverse approach – registration / transform
F
Applications of Image Processing and Registration in Medical Imaging
Numerical Compression Methods: Finite Element Analysis
• Challenges
• Mesh generation
• Mesh complexity
• Computational time
• Benefits
• Accurate simulation
• Results may be generalized for rapid computation
• Physical parameters may be extracted from solution
Applications of Image Processing and Registration in Medical Imaging
Methods
• Finite Element Analysis
• Challenges
• Computational time
• Mesh generation
• Mesh complexity
• Use techniques of Garboczi et.al. to solve the equations in a random linear elastic material, subject to an applied macroscopic strain, using the finite element method.
Applications of Image Processing and Registration in Medical Imaging
Sphere shell (Young’s Modulus - 2 kPa - Medium 2 kPa)
Sphere shell (Young’s Modulus - 90 kPa Meduim 2 kPa)
30507090100
30507090100
Simple Compression - Sphere Shell
Applications of Image Processing and Registration in Medical Imaging
Breast(segmented) (Young’s Modulus - skin 90 kPa,
Gland 10 kPa, Fat 1 kPa, Meduim 1 kPa)
50607080100
Simple Compression - Breast (segmented)
Applications of Image Processing and Registration in Medical Imaging
Breast segmented Young’s Modulus
Applications of Image Processing and Registration in Medical Imaging
• Surface is fit by tetrahedral elements
• Used voxel data threshold value
• Mesh is generated by marching tetrahedra algorithm– http://en.wikipedia.org/wiki/Marching_tetrahedrons
– G. M. Treece, R. W. Prager, and A. H. Gee. Regularised marching tetrahedra: improved iso-surface extraction. Computers and Graphics, 23(4):583--598, 1999
Applications of Image Processing and Registration in Medical Imaging
• Interior treated as incompressible fluid• volume preserved
• Chest wall vertices remain in a plane
• Impose various constraints
• Pointwise:
• Fixed vertices
• Level set constraints
• One-sided constraints
• nonpositive or non negative
vertex function
• Global:
• Volume constraint
• Apply compression
Applications of Image Processing and Registration in Medical Imaging
• Compression plates can be simulated in different ways
• Top: entire breast is compressed
• Bottom: major portion of breast compressed
Applications of Image Processing and Registration in Medical Imaging
• Surface point displacements
• Known from mesh surface vertex points
• Interior point displacements
• Inferred by interpolation from mesh surface vertex points and their compression displacement
?
Applications of Image Processing and Registration in Medical Imaging
• (IWD Interpolation).
• One of the most commonly used methods to interpolate a series of scatter points.
• Assumption: interpolated value is most influenced by nearby points and less by more distant points.
• The simplest form of IWD Interpolation is "Shepard's method"
D. Shepard, A two-dimensional interpolating function for irregularly
spaced data. Proc. ACM. nat. Conf., 517--524, 1968
Applications of Image Processing and Registration in Medical Imaging
n: number of scatter
points in the set
fi: prescribed function
values at scatter pointswi: weight functions assigned to
each scatter point
di: distance from scatter point to
interpolation point
Interpolated value
Interpolation point location
p: real number > 1.0 (here best
results with p=4.0)
Applications of Image Processing and Registration in Medical Imaging
• Mesh generation• Marching tetrahedrons
• 1283 voxel volume input• Triangles in mesh
• Vertices: 1620 Edges: 4854 Facets: 3236
• Interpolation• 1620 surface points and displacements
• Compression Computation Time• Surface Mesh Generation
• 0.04 sec
• Surface Compression• 1.15 sec
• Voxel Interpolation• 63.13 sec (1283)• 504.3 sec (2563)
Applications of Image Processing and Registration in Medical Imaging
before compression after compression (CC)
Building a Breast Imaging Machine
Breast CT - Design / Construction System Modules Acquisition ReconstructionBreast Ultrasound - Design / Construction System Modules Acquisition ReconstructionMammogram Simulation Classification & Extraction CompressionTissue Parameter EstimationImage-Guided Robotic Biopsy
Applications of Image Processing and Registration in Medical Imaging
Applications of Image Processing and Registration in Medical Imaging
85
VBUS VBUSCTCTMammo
Gel Breast Test Object Modality Comparison
Applications of Image Processing and Registration in Medical Imaging
Sound speed and attenuation:• Measure time delay (spatial shift) of reflections from back wall
• delay represents relative change in speed from baseline as sound propagates through different materials
• Time delay converted into per view time delay line
• no delay equals baseline sound speed
• shift towards transducer represents shorter time delay
• shift away from transducer represents longer time delay
time delay = 2 * x / v
x = distance (m)
v = speed of sound assumed
by US machine (m/s)
x x
86
Applications of Image Processing and Registration in Medical Imaging
Sound speed and attenuation:
• Use filtered back-projection to construct sound speed image
• use delays from 360o of acquisition
• Mathematical considerations: • Back wall deviations give us time delay
• Time delay is a “projection” of image “slowness”
• Use filtered back projection to reconstruct slowness image
• Invert slowness image to get sound speed image
time_delay(x,!) = 2 * slowness(x, y)dy0
D
"
time_delay(x,!) =back _wall _ shift(x,!) + D
SOUND _SPEED
slowness(x, y) = time_delay(x cos! + ysin! " t)0
w
#0
2$
# dtd!
speed(x, y) =1
slowness(x, y)
87
Applications of Image Processing and Registration in Medical Imaging
reflection speed-of-sound attenuation
Sound Speed and Attenuation
Applications of Image Processing and Registration in Medical Imaging
89
Parametric Breast Ultrasound Imaging - Reflectivity, Sound Speed and Attenuation
reflection
speed attenuation
composite
Applications of Image Processing and Registration in Medical Imaging
90
Breast Test Object Scans- Vascular Flow
Building a Breast Imaging Machine
Breast CT - Design / Construction System Modules Acquisition ReconstructionBreast Ultrasound - Design / Construction System Modules Acquisition ReconstructionMammogram Simulation Classification & Extraction CompressionTissue Parameter EstimationImage-Guided Robotic Biopsy
Applications of Image Processing and Registration in Medical Imaging Applications of Image Processing and Registration in Medical Imaging
• Improved detection and biopsy of small lesions is essential for improving
breast cancer diagnosis, management and survival.
• Minimally invasive robotic devices potentially can assist physicians
perform more precise biopsies thereby improving breast diagnosis and
management.
• To design and construct a dedicated Volume Breast Biopsy System
(VBBS) integrating volume ultrasound images with a compact robotic
biopsy device to provide more precise image-guided breast lesion biopsy
capability.
92
Applications of Image Processing and Registration in Medical Imaging
• The Volume Breast UltraSound (VBUS) system is
integrated with a compact robotic device having a 6-DOF
articulated arm to reach any breast location within ±1.0
mm carrying up to a 3.0 kg load.
• A load sensor measured force (Fx, Fy, Fz), and torque (Tx, Ty,
Tz) providing real-time data for biopsy device insertion forces.
• A linear actuator was used for final device insertion
• Volume US or CT data provided 3-dimensional lesion
coordinates.
• Targeting and guidance algorithms optimized the path for
insertion of a Mammotome™ vacuum biopsy device.
• Physician guidance was used to direct robot motion and
device insertion.
93
Applications of Image Processing and Registration in Medical Imaging
94
Volume Breast Biopsy System
Robot Arm
Stabilization Support Arm
Video Camera
Breast
Stabilization
Device
Breast Test Object
MammotomeTM
Biopsy System
Force/Torque Sensor
Patient Table
Biopsy Device Insertion Drive
System
Biopsy Needle
VBUS(axial)
chest wall
nipple
VBUS Slices (axial)
Biopsy Device Table and Robot
Applications of Image Processing and Registration in Medical Imaging
• System performance was evaluated by scanning a variety of
breast test objects with simulated lesions in a pendant breast
position.
• We measured targeting accuracy and reproducibility in:
• air using acrylic spheres (3, 6, 9, 12, and 15 mm)
• solidified mineral oil based breast test objects with (lesion
sizes 2-15 mm).
95
courtesy of Ron Truong - MAE 156
Applications of Image Processing and Registration in Medical Imaging
96
Detected Property Range of SensitivityRange of SensitivityForce (X-direction) 0 to 15 pounds 0 to 67 Newtons
Force (Y-direction) 0 to 15 pounds 0 to 67 Newtons
Force (Z-direction) 0 to 50 pounds 0 to 222 Newtons
Torque (X-direction) 0 to 50 in-pounds 0 to 5650 Newton-mm
Torque (Y-direction) 0 to 50 in-pounds 0 to 5650 Newton-mm
Torque (Z-direction) 0 to 50 in-pounds 0 to 5650 Newton-mm
Applications of Image Processing and Registration in Medical Imaging
97
10 mm 1 mm
Robotic Targeting Accuracy Motion Path
Applications of Image Processing and Registration in Medical Imaging
98
10 mm 1 mm
x displacement error (mm) y
0.6 average absolute value 0.6
0.5 standard deviation 0.5
1.9 maximum 2.6
0.0 minimum 0.0
-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
2.5
3
3.5
4
0 10 20 30 40 50 60 70 80
radia
l er
ror
(mm
)
radius (mm)
+/- 1 mm
Applications of Image Processing and Registration in Medical Imaging
99
Multi-modality Imaging of Fibro-Glandular Breast with Tumor
MRI (sagittal)
Breast CT(sagittal)
LCC
MammoVolume Slices
(axial)
Breast US(axial)
Breast CT(axial)
Applications of Image Processing and Registration in Medical Imaging
100
Applications of Image Processing and Registration in Medical Imaging
• VBUS volume data were acquired in 20 sec/slice (volume < 20 min.)
showing ~1 mm spatial resolution with lesions clearly identified.
• Lesion targeting and guidance algorithms showed insertion trajectory
prior to device motion.
• Initial positioning located the device adjacent to skin surface;
• insertion was under physician guidance.
• Lesion targeting accuracy was to within ±1 mm.
• Reproducibility was excellent.
• Gel test objects provided force feedback data regarding object
deformation to improve targeting small lesions.
101
Applications of Image Processing and Registration in Medical Imaging
• Volume ultrasound imaging improved lesion localization
• assisting biopsy device position guidance, especially for small lesions.
• Robotic devices may provide more precise device placement assisting
physicians with biopsy procedures.
• This work demonstrates the potential to translate the capabilities of
two rapidly developing areas of medicine:
• volumetric imaging devices
• particularly automated volume ultrasound scanners
• robotic devices
• using compact and economical sizes
into a fully-functional clinical volume image-guided, physician-directed
precision breast biopsy system.
102
Applications of Image Processing and Registration in Medical Imaging
Strategic Organization of Image Processing
CREDITS:• Philips Ultrasound• GE Medical Systems• Siemens Ultrasound• de Korte et.al., Erasmus University Rotterdam
Filtering
Anatomic Reference
Image series
Patient AtlasRegistration
Visualization
Parameter Estimates
Segmentation
Thomas R. Nelson, Ph.D. Professor of Radiology and Bioengineering
UC San Diego [email protected]
Applications of Image Processing and Registration in Medical Imaging