Medical Image Registration Biomedical Engineering Series Edited by Michael R. Neuman Published Titles Electromagnetic Analysis and Design in Magnetic Resonance Imaging, Jianming Jin Endogenous and Exogenous Regulation and Control of Physiological Systems, Robert B. Northrop Artificial Neural Networks in Cancer Diagnosis, Prognosis, and Treatment, Raouf N.G. Naguib and Gajanan V. Sherbet Medical Image Registration, Joseph V. Hajnal, Derek Hill, and David J. Hawkes Introduction to Dynamic Modeling of Neuro-Sensory Systems, Robert B. Northrop Forthcoming Titles Noninvasive Instrumentation and Measurement in Medical Diagnosis, Robert B. Northrop Handbook of Neuroprosthetic Methods, Warren E. Finn and Peter G. LoPresti The BIOMEDICAL ENGINEERING Series Series Editor Michael Neuman Medical Image Registration Edited by Joseph V. Hajnal Derek L.G. Hill David J. Hawkes CRC Press Boca Raton London New York Washington, D.C. disclaimer Page 1 Wednesday, May 16, 2001 10:54 AM Library of Congress Cataloging-in-Publication Data Medical image registration / edited by Joseph Hajnal, David Hawkes, and Derek Hill. p. cm.— (Biomedical engineering series) Includes bibliographical references and index. ISBN 0-8493-0064-9 1. Diagnostic imaging. I. Hajnal, Joseph. II. Hawkes, D.J. (David J.) III. Hill, Derek (Derek L.G.) IV. Series. RC78.7.D53 M436 2001 616.07′54—dc21 2001028031 CIP This book contains information obtained from authentic and highly regarded sources. Reprinted material is quoted with permission, and sources are indicated. A wide variety of references are listed. Reasonable efforts have been made to publish reliable data and information, but the author and the publisher cannot assume responsibility for the validity of all materials or for the consequences of their use. Neither this book nor any part may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopying, microfilming, and recording, or by any information storage or retrieval system, without prior permission in writing from the publisher. All rights reserved. Authorization to photocopy items for internal or personal use, or the personal or internal use of specific clients, may be granted by CRC Press LLC, provided that $.50 per page photocopied is paid directly to Copyright Clearance Center, 222 Rosewood Drive, Danvers, MA 01923 USA. The fee code for users of the Transactional Reporting Service is ISBN 0-8493-0064- 9/01/$0.00+$.50. The fee is subject to change without notice. For organizations that have been granted a photocopy license by the CCC, a separate system of payment has been arranged. The consent of CRC Press LLC does not extend to copying for general distribution, for promotion, for creating new works, or for resale. Specific permission must be obtained in writing from CRC Press LLC for such copying. Direct all inquiries to CRC Press LLC, 2000 N.W. Corporate Blvd., Boca Raton, Florida 33431. Trademark Notice: Product or corporate names may be trademarks or registered trademarks, and are used only for identification and explanation, without intent to infringe. Visit the CRC Press Web site at www.crcpress.com © 2001 by CRC Press LLC No claim to original U.S. Government works International Standard Book Number 0-8493-0064-9 Library of Congress Card Number 2001028031 Printed in the United States of America 1 2 3 4 5 6 7 8 9 0 Printed on acid-free paper 0064_frame_Fm.fm Page 6 Wednesday, May 16, 2001 10:51 AM Editors Joseph Hajnal is head of physics and engineering at the Robert Steiner Mag- netic Resonance Unit, Hammersmith Hospital, Imperial College School of Medicine and Medical Research Council Clinical Sciences Centre, as well as leader of a research team funded by Marconi Medical Systems. He trained as a physicist at Bristol University, England, and earned a Ph.D. in the physics of electromagnetic waves before working in Australia at Melbourne University and the Australian National University on interactions between atomic beams and laser light. In 1990 Dr. Hajnal began research in medical imaging with a special interest in magnetic resonance imaging. His current research interests include magnetic resonance data acquisition and processing, image registration, and data fusion, as well as novel scanner technology. He has published more than 80 papers in peer-review journals and currently holds six grants from a variety of funding organizations. Derek Hill earned a B.Sc. in physics from Imperial College, London in 1987, a M.Sc. in medical physics in 1989 and a Ph.D. in medical image registration from the University of London in 1994. He is currently a senior lecturer in the department of radiological sciences in the medical school of King’s College, London. Dr. Hill’s research interests include rigid and nonrigid registration, intraoperative brain deformation, interventional magnetic resonance imag- ing, MR imaging, and the study of brain shape and connectivity. He has more than 100 publications in these areas, of which over 30 are peer-review journal articles. During the last five years, Dr. Hill has held five project grants as prin- ciple investigator. He has worked extensively with industrial partners on col- laborative research to develop imaging technology. David Hawkes has 25 years experience in medical imaging in hospital and academic environments. He founded the Computational Imaging Science Group in 1989 at Guy’s Hospital and recently formed the Medical Imaging Science Interdisciplinary Research Group at the newly merged Guy’s, King’s, and St. Thomas’ School of Medicine, King’s College, London. Dr. Hawkes trained as a physicist at Oxford. He earned a master’s degree in radiobiology at Birmingham and a Ph.D. on parametrization of the x-ray attenuation coef- ficient for dual energy computed tomography at Surrey. His current research interests include image matching, data fusion, visualization, shape represen- tation, surface geometry, and modeling tissue deformation, with applications in image-guided interventions, augmented reality in surgery, 3D ultrasound, 0064_frame_Fm.fm Page 7 Wednesday, May 16, 2001 10:51 AM and interventional magnetic resonance imaging. He has been on the scientific committees of 30 international meetings and is on the editorial boards of five journals. Dr. Hawkes is currently principal investigator of five U.K. Engineer- ing and Physical Sciences Research Council (EPSRC) project grants and manager of three industrially sponsored projects. He has more than 150 pub- lications in the area of medical imaging. 0064_frame_Fm.fm Page 8 Wednesday, May 16, 2001 10:51 AM Contributors Dale L. Bailey Department of Nuclear Medicine, Guy’s, King’s, and St. Thomas’ School of Medicine, Guy’s Hospital, London, U.K. Phillipe Batchelor Department of Radiological Sciences, Guy’s, King’s, and St. Thomas’ School of Medicine, Guy’s Hospital, London, U.K. David Bell Physics Department, Royal Marsden NHS Trust, Sutton, Surrey, U.K. Graeme M. Bydder Robert Steiner MR Unit, MRC Clinical Sciences Centre, Imperial College School of Medicine, Hammersmith Hospital, London, U.K. Matthew J. Clarkson Department of Radiological Sciences, Guy’s, King’s, and St. Thomas’ School of Medicine, Guy’s Hospital, London, U.K. D. Louis Collins McConnell Brain Imaging Center, Montreal Neurological Institute, Montreal, Quebec, Canada Philip J. Edwards Department of Radiological Sciences, Guy’s, King’s, and St. Thomas’ School of Medicine, Guy’s Hospital, London, U.K. Alan C. Evans McConnell Brain Imaging Center, Montreal Neurological Institute, Montreal, Quebec, Canada J. Michael Fitzpatrick Department of Electrical Engineering and Computer Science, Vanderbilt University, Nashville, Tennessee, U.S.A. Joseph V. Hajnal Robert Steiner MR Unit, MRC Clinical Sciences Centre, Imperial College School of Medicine, Hammersmith Hospital, London, U.K. David J. Hawkes Department of Radiological Sciences, Guy’s, King’s, and St. Thomas’ School of Medicine, Guy’s Hospital, London, U.K. Derek L.G. Hill Department of Radiological Sciences, Guy’s, King’s, and St. Thomas’ School of Medicine, Guy’s Hospital, London, U.K. 0064_frame_Fm.fm Page 9 Wednesday, May 16, 2001 10:51 AM Jozef Jarosz Neuroimaging, King’s Healthcare Trust, Denmark Hill, London, U.K. Mark Jenkinson Oxford Centre for Functional MRI of the Brain, Oxford University, John Radcliffe Hospital, Oxford, U.K. Louis Lemieux Research Group, Institute of Neurology, University Col- lege, London, U.K. Michael I. Miga Department of Biomedical Engineering, Vanderbilt University, Nashville, Tennessee, U.S.A. Angela Oatridge Robert Steiner MR Unit, MRC Clinical Sciences Centre, Imperial College School of Medicine, Hammersmith Hospital, London, U.K. Keith D. Paulsen Thayer School of Engineering, Dartmouth College, Hanover, New Hampshire, U.S.A. Tomás˘ Paus McConnell Brain Imaging Center, Montreal Neurological Institute, Montreal, Quebec, Canada Graeme P. Penney Department of Radiological Sciences, Guy’s, King’s, and St. Thomas’ School of Medicine, Guy’s Hospital, London, U.K. Uwe Pietrzyk Forschungszentrum Jülich GmbH, Institut für Medizin, Jülich, Germany Daniel Rueckert Department of Computing, Imperial College of Science, Technology, and Medicine, London, U.K. Stephen M. Smith Oxford Centre for Functional MRI of the Brain, Oxford University, John Radcliffe Hospital, Oxford, U.K. Alex P. Zijdenbos McConnell Brain Imaging Center, Montreal Neurologi- cal Institute, Montreal, Quebec, Canada 0064_frame_Fm.fm Page 10 Wednesday, May 16, 2001 10:51 AM Contents 1. Introduction.....................................................................................1 Joseph V. Hajnal, Derek L.G. Hill, David J. Hawkes Section I Methodology 2. Registration Methodology: Introduction....................................11 David J. Hawkes 3. Registration Methodology: Concepts and Algorithms..............39 Derek L.G. Hill and Philipe Batchelor 4. Preparation and Display of Image Data......................................71 Joseph V. Hajnal 5. Correcting for Scanner Errors in CT, MRI, SPECT, and 3D Ultrasound........................................................................87 Louis Lemieux, Dale L. Bailey, and David Bell 6. Detecting Failure, Assessing Success........................................117 J. Michael Fitzpatrick Section II Applications of Rigid Body Registration 7. Registration and Subtraction of Serial Magnetic Resonance Images of the Brain: Image Interpretation and Clinical Applications..................................................................143 Angela Oatridge, Joseph V. Hajnal, and Graeme M. Bydder 8. The Role of Registration in Functional Magnetic Resonance Imaging .....................................................................183 Mark Jenkinson and Stephen Smith 9. Registration of MRI and PET Images for Clinical Applications............................................................199 Uwe Pietrzyk