EMPIRE10 (Evaluation of Methods for Pulmonary Image REgistration 2010) is a public platform for fair and meaningful comparison of registration algorithms which are applied to a database of intrapatient thoracic CT image pairs. Evaluation of nonrigid registration techniques is a nontrivial task. This is compounded by the fact that researchers typically test only on their own data, which varies widely. For this reason, reliable assessment and comparison of different registration algorithms has been virtually impossible in the past. In this work we present the results of the launch phase of EMPIRE10, which comprised the comprehensive evaluation and comparison of 20 individual algorithms from leading academic and industrial research groups. All algorithms are applied to the same set of 30 thoracic CT pairs. Algorithm settings and parameters are chosen by researchers expert in the configuration of their own method and the evaluation is independent, using the same criteria for all participants. All results are published on the EMPIRE10 website (http://empire10.isi.uu.nl). The challenge remains ongoing and open to new participants. Full results from 24 algorithms have been published at the time of writing. This paper details the organization of the challenge, the data and evaluation methods and the outcome of the initial launch with 20 algorithms. The gain in knowledge and future work are discussed.

Lung expansion, a surrogate for lung function, can be assessed using two or more respiratory-gated CT image acquisitions. The results show that good reproducibility can be obtained in anesthetized, mechanically ventilated animals, but variations in respiratory effort and breathing patterns reduce reproducibility in spontaneously-breathing humans. The global linear normalization can globally compensate for breathing effort differences, but a homogeneous scaling does not account for differences in regional lung expansion rates. Additional work is needed to develop compensation procedures or normalization schemes that can account for local variations in lung expansion during respiration.

Purpose: Regional lung volume change as a function of lung inflation serves as an index of parenchymal and airway status as well as an index of regional ventilation and can be used to detect pathologic changes over time. In this paper, the authors propose a new regional measure of lung mechanics-the specific air volume change by corrected Jacobian. The authors compare this new measure, along with two existing registration based measures of lung ventilation, to a regional ventilation measurement derived from xenon-CT (Xe-CT) imaging. Methods: 4DCT and Xe-CT datasets from four adult sheep are used in this study. Nonlinear, 3D image registration is applied to register an image acquired near end inspiration to an image acquired near end expiration. Approximately 200 annotated anatomical points are used as landmarks to evaluate registration accuracy. Three different registration based measures of regional lung mechanics are derived and compared: the specific air volume change calculated from the Jacobian (SAJ); the specific air volume change calculated by the corrected Jacobian (SACJ); and the specific air volume change by intensity change (SAI). The authors show that the commonly used SAI measure can be derived from the direct SAJ measure by using the air-tissue mixture model and assuming there is no tissue volume change between the end inspiration and end expiration datasets. All three ventilation measures are evaluated by comparing to Xe-CT estimates of regional ventilation. Results: After registration, the mean registration error is on the order of 1 mm. For cubical regions of interest (ROIs) in cubes with size 20 mm × 20 mm × 20 mm, the SAJ and SACJ measures show significantly higher correlation (linear regression, average r 2 = 0.75 and r 2 = 0.82) with the Xe-CT based measure of specific ventilation (sV) than the SAI measure. For ROIs in slabs along the ventraldorsal vertical direction with size of 150 mm × 8 mm × 40 mm, the SAJ, SACJ, and SAI all show high correlation (linear regression, average r 2 = 0.88, r 2 = 0.92, and r 2 = 0.87) with the Xe-CT based sV without significant differences when comparing between the three methods. The authors demonstrate a linear relationship between the difference of specific air volume change and difference of tissue volume in all four animals (linear regression, average r 2 = 0.86). Conclusions: Given a deformation field by an image registration algorithm, significant differences between the SAJ, SACJ, and SAI measures were found at a regional level compared to the Xe-CT sV in four sheep that were studied. The SACJ introduced here, provides better correlations with Xe-CT based sV than the SAJ and SAI measures, thus providing an improved surrogate for regional ventilation.

Purpose: Four-dimensional computed tomography (4DCT) can be used to make measurements of pulmonary function longitudinally. The sensitivity of such measurements to identify change depends on measurement uncertainty. Previously, intrasubject reproducibility of Jacobian-based measures of lung tissue expansion was studied in two repeat prior-RT 4DCT human acquisitions. Difference in respiratory effort such as breathing amplitude and frequency may affect longitudinal function assessment. In this study, the authors present normalization schemes that correct ventilation images for variations in respiratory effort and assess the reproducibility improvement after effort correction. Methods: Repeat 4DCT image data acquired within a short time interval from 24 patients prior to radiation therapy (RT) were used for this analysis. Using a tissue volume preserving deformable image registration algorithm, Jacobian ventilation maps in two scanning sessions were computed and compared on the same coordinate for reproducibility analysis. In addition to computing the ventilation maps from end expiration to end inspiration, the authors investigated the effort normalization strategies using other intermediated inspiration phases upon the principles of equivalent tidal volume (ETV) and equivalent lung volume (ELV). Scatter plots and mean square error of the repeat ventilation maps and the Jacobian ratio map were generated for four conditions: no effort correction, global normalization, ETV, and ELV. In addition, gamma pass rate was calculated from a modified gamma index evaluation between two ventilation maps, using acceptance criterions of 2 mm distanceto-agreement and 5% ventilation difference. Results: The pattern of regional pulmonary ventilation changes as lung volume changes. All effort correction strategies improved reproducibility when changes in respiratory effort were greater than 150 cc (p < 0.005 with regard to the gamma pass rate). Improvement of reproducibility was correlated with respiratory effort difference (R = 0.744 for ELV in the cohort with tidal volume difference greater than 100 cc). In general for all subjects, global normalization, ETV and ELV significantly improved reproducibility compared to no effort correction (p = 0.009, 0.002, 0.005 respectively). When tidal volume difference was small (less than 100 cc), none of the three effort correction strategies improved reproducibility significantly (p = 0.52, 0.46, 0.46 respectively). For the cohort (N = 13) with tidal volume difference greater than 100 cc, the average gamma pass rate improves from 57.3% before correction to 66.3% after global normalization, and 76.3% after ELV. ELV was found to be significantly better than global normalization (p = 0.04 for all subjects, and p = 0.003 for the cohort with tidal volume difference greater than 100 cc). Conclusions: All effort correction strategies improve the reproducibility of the authors' pulmonary ventilation measures, and the improvement of reproducibility is highly correlated with the changes in respiratory e...

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