Handbook of Biomedical Image Analysis TOPICS IN BIOMEDICAL ENGINEERING INTERNATIONAL BOOK SERIES Series Editor: Evangelia Micheli-Tzanakou Rutgers University Piscataway, New Jersey Signals and Systems in Biomedical Engineering: Signal Processing and Physiological Systems Modeling Suresh R. Devasahayam Models of the Visual System Edited by George K. Hung and Kenneth J. Ciuffreda PDE and Level Sets: Algorithmic Approaches to Static and Motion Imagery Edited by Jasjit S. Suri and Swamy Laxminarayan Frontiers in Biomedical Engineering: Proceedings of the World Congress for Chinese Biomedical Engineers Edited by Ned H.C. Hwang and Savio L-Y. Woo Handbook of Biomedical Image Analysis: Volume I: Segmentation Models Part A Edited by Jasjit S. Suri, David L. Wilson, and Swamy Laxminarayan Handbook of Biomedical Image Analysis: Volume II: Segmentation Models Part B Edited by Jasjit S. Suri, David L. Wilson, and Swamy Laxminarayan Handbook of Biomedical Image Analysis: Volume III: Registration Models Edited by Jasjit S. Suri, David L. Wilson, and Swamy Laxminarayan A Continuation Order Plan is available for this series. A continuation order will bring delivery of each new volume immediately upon publication. Volumes are billed only upon actual shipment. For further information please contact the publisher. Handbook of Biomedical Image Analysis Volume II: Segmentation Models Part B Edited by Jasjit S. Suri Department of Biomedical Engineering Case Western Reserve University Cleveland, Ohio David L. Wilson Department of Biomedical Engineering Case Western Reserve University Cleveland, Ohio and Swamy Laxminarayan Institute of Rural Health Idaho State University Pocatello, Idaho Kluwer Academic/Plenum Publishers New York, Boston, Dordrecht, London, Moscow ISBN 0-306-48605-9 eISBN 0-306-48606-7 set ISBN: 0-387-23126-9 (cid:1)2005 Kluwer Academic/Plenum Publishers, New York 233 Spring Street, New York, New York 10013 http://www.wkap.nl/ 10 9 8 7 6 5 4 3 2 1 A C.I.P. record for this book is available from the Library of Congress All rights reserved No part of this book may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, microfilming, recording, or otherwise, without written permission from the Publisher, with the exception of any material supplied specifically for the purpose of being entered and executed on a computer system, for exclusive use by the purchaser of the work. Permissions for books published in Europe: [email protected] Permissions for books published in the United States of America: [email protected] Printed in the United States of America JasjitSuridedicatesthishandbookto hisyoungestuncleParamjeetChadhaandhisimmediatefamily: hislatesisterSharan,hislatebrotherAmarjeet,andhis lateparentsKulwantKaurandUdamS.Chadha (FellowofRoyalInstituteofLondon). DavidWilsondedicatesthishandbooktohis familyandstudents. SwamyLaxminarayandedicates thisbookinmemoryofhisbelovedparentswhowerea constantsourceofinspirationinhislifeandtohisin-laws CorieandDerkZwakmanfortheirgenuinesense offamilyattachmentsandfriendship. Contributors AlejandroF.Frangi,Ph.D. GaborSzekely,Ph.D. UniversityofZaragoza, SwissFederalInstituteofTechnology, Zaragoza,Spain Zurich AnandManhoar,M.S. GaborT.Herman,Ph.D. UniversityofSouthFlorida, CUNY,NewYork,NY,USA Tampa,FL,USA JasjitS.Suri,Ph.D. BrunoM.Carvalho,M.S. CaseWesternReserveUniversity, UniversityofPennsylvania, Cleveland,OH,USA Philadelphia,USA Jean-ClaudeKlein,Ph.D. ChunYuan,Ph.D. EcoledesMinesdeParis, UniversityofWashington, Fontainebleau,France Seattle,WA,USA JeffreyDuerk,Ph.D. DavidL.Wilson,Ph.D. CaseWesternReserveUniversity, CaseWesternReserveUniversity, Cleveland,OH,USA Cleveland,OH,USA JianYang,Ph.D. DirkVandermeulen,Ph.D. UniversityofZaragoza, KatholiekeUniversiteitLeuven, Zaragoza,Spain Leuven,Belgium EmilianoD’Agostino,Ph.D. JohnJ.Heine,Ph.D. KatholiekeUniversiteitLeuven, UniversityofSouthFlorida, Leuven,Belgium Tampa,FL,USA FrederikMaes,Ph.D. JonathanLewin,M.D. KatholiekeUniversiteitLeuven, CaseWesternReserveUniversity, Leuven,Belgium Cleveland,OH,USA vii viii Contributors KeirBovis,Ph.D. PaulSuetens,Ph.D. UniversityofExeter, KatholiekeUniversiteitLeuven, Exeter,UK Leuven,Belgium KoenVanLeemput,Ph.D. Petia,Raveda,Ph.D. HelsinkiUniversityCentralHospital, UniversitatAutnomadeBarcelona, Helsinki,Finland Barcelona,Spain Koon-PongWong,Ph.D. PhilippeC.Cattin,Ph.D. HongKongPolytechnicUniversity, SwissFederalInstituteofTechnology, HungHom,KowloonHongKong Zurich MariaKallergi,Ph.D. SameerSingh,Ph.D. UniversityofSouthFlorida, UniversityofExeter, Tampa,FL,USA Exeter,UK MarlaR.Hersh,M.D. SameerSingh,Ph.D. UniversityofSouthFlorida, UniversityofExeter, Tampa,FL,USA Exeter,UK Martı´nLaclaustra,M.D.,Ph.D. ShuyuYang,Ph.D. AragonInstituteofHealthSciences, TexasTechUniversity, Zaragoza,Spain Lubbock,TX,USA MatthiasHarders,Ph.D. SiddharthSrivastava,Ph.D. Swiss Federal Institue of Technology, KatholiekeUniversiteitLeuven, Zurich Leuven,Belgium MisaelRosales,Ph.D. Sierra,Ph.D. UniversidaddelosAndes, SwissFederalInstituteofTechnology, Me´rida/Venezuela Zurich MugdhaTembey,M.S. SunandaMitra,Ph.D. UniversityofSouthFlorida, TexasTechUniversity, Tampa,FL,USA Lubbock,TX,USA OriolPujol,Ph.D. SwamyLaxminarayan,D.Sc. UniversitatAutnomadeBarcelona, StateUniversityofIdaho, Barcelona,Spain Pocatello,ID,USA OlivierSalvado,M.S. ThomasWalter,Ph.D. CaseWesternReserveUniversity, EcoledesMinesdeParis, Cleveland,OH,USA Fontainebleau,France THECONTRIBUTORS ix VasanthPappu,B.S. YoshinobuSato,Ph.D. CaseWesternReserveUniversity, OsakaUniversity, Cleveland,OH,USA Osaka,Japan WilliamS.Kerwin,Ph.D. ZacharyE.Miller,Ph.D. UniversityofWashington, UniversityofWashington, Seattle,WA,USA Seattle,WA,USA Acknowledgments This book is the result of collective endeavor from several noted engineering andcomputerscientists,mathematicians,medicaldoctors,physicists,andradi- ologists.Theeditorsareindebtedtoalloftheireffortsandoutstandingscientific contributions. The editors are particularly grateful to Drs. Petia Reveda, Alex Falco, Andrew Laine, David Breen, David Chopp, C. C. Lu, Gary Christensen, DirkVandermeulen,AlyFarag,AlejandroFrangi,GilsonAntonioGiraldi,Gabor Szekely,PierreHellier,GaborHerman,ArdeshirCoshtasby,JanKybic,JeffWeiss, Jean-ClaudeKlein,MajidMirmehdi,MariaKallergi,YangmingZhu,SunandaMi- tra,SameerSingh,AlessandroSarti,XiopingShen,CalvinR.Maurer,Jr.,Yoshi- nobuSato,Koon-PongWong,AvdheshSharma,RakeshSharma,andChunYuan and their team members for working with us so closely in meeting all of the deadlines of the book. We would like to express our appreciation to Kluwer Publishers for helping create this invitational handbook. We are particularly thankfultoAaronJohnson,theacquisitioneditorandShoshanaSternlichtfor theirexcellentcoordinationofthebookateverystage. Dr. Suri thanks Philips Medical Systems, Inc., for the MR datasets and en- couragementsduringhisexperimentsandresearch.Specialthanksaredueto Dr.LarryKasuboskiandDr.ElaineKeelerfromPhilipsMedicalSystems,Inc.,for theirsupportandmotivations.ThanksarealsoduetomypastPh.D.committee researchprofessors,particularlyProfessorsLindaShapiro,RobertM.Haralick, DeanLytle,andArunSomani,fortheirencouragements. We extend our appreciations to Drs. Ajit Singh, Siemens Medical Sys- tems, George Thoma, chief, Imaging Science Division, National Institutes of Health, Dr. Sameer Singh, University of Exeter, UK, for his motivations. xi