Volume reconstruction of freehand three-dimensional ultrasound using median filters

Objectives

This paper aims to apply median filters for reducing interpolation error and improving the quality of 3D images in a freehand 3D ultrasound (US) system.

Background and motivation

Freehand 3D US imaging has been playing an important role in obtaining the entire 3D impression of tissues and organs. Reconstructing a sequence of irregularly located 2D US images (B-scans) into a 3D data set is one of the key procedures for visualization and data analysis.

Methods

In this study, we investigated the feasibility of using median filters for the reconstruction of 3D images in a freehand 3D US system. The B-scans were collected using a 7.5 MHz ultrasound probe. Four algorithms including the standard median (SM), Gaussian weighted median (GWM) and two types of distance-weighted median (DWM) filters were proposed to filter noises and compute voxel intensities. Qualitative and quantitative comparisons were made among the results of different methods based on the image set captured in freehand from the forearm of a healthy subject. A leave-one-out approach was used to demonstrate the performance of the median filters for predicting the removed B-scan pixels.

Results

Compared with the voxel nearest-neighbourhood (VNN) and distance-weighted (DW) interpolation methods, the four median filters reduced the interpolation error by 8.0-24.0% and 1.2-21.8%, respectively, when 1/4 to 5 B-scans was removed from the raw B-scan sequence.

Conclusions

In summary, the median filters can improve the quality of volume reconstruction by reducing the interpolation errors and facilitate the following image analyses in clinical applications.     

Volume quantification by fuzzy logic modelling in freehand ultrasound imaging

Introduction

Many algorithms exist for 3D reconstruction of data from freehand 2D ultrasound slices. These methods are based on interpolation techniques to fill the voxels from the pixels. For quantification purposes, segmentation is involved to delineate the structure of interest. However, speckle and partial volume effect errors can affect quantification.

Objective

This study aimed to assess the effect of the combination of a fuzzy model and 3D reconstruction algorithms of freehand ultrasound images on these errors.

Methods

We introduced a fuzzification step to correct the initial segmentation, by weighting the pixels by a distribution function, taking into account the local gray levels, the orientation of the local gradient, and the local contrast-to-noise ratio. We then used two of the most wide-spread reconstruction algorithms (pixel nearest neighbour (PNN) and voxel nearest neighbour (VNN)) to interpolate and create the volume of the structure. Finally, defuzzification was used to estimate the optimal volume.

Validation

B-scans were acquired using 5 MHz and 8 MHz ultrasound probes on ultrasound tissue-mimicking phantoms. Quantitative evaluation of the reconstructed structures was done by comparing the method output to the real volumes. Comparison was also done with classical PNN and VNN algorithms.

Results

With the fuzzy model quantification errors were less than 4.3%, whereas with classical algorithms, errors were larger (10.3% using PNN, 17.2% using VNN). Furthermore, for very small structures (0.5 cm³), errors reached 24.3% using the classical VNN algorithm, while they were about 9.6% with the fuzzy VNN model.

Conclusion

These experiments prove that the fuzzy model allows volumes to be determined with better accuracy and reproducibility, especially for small structures (<3 cm³).     

Speckle suppression and contrast enhancement in reconstruction of freehand 3D ultrasound images using an adaptive distance-weighted method

In three-dimensional (3D) freehand ultrasound (US), reconstructing a set of B-scans into a regular voxel array is the key procedure for consequent visualization and analysis. This paper presents a new adaptive interpolation algorithm for computing the voxel array to suppress speckle noises and enhance contrast. The local statistics of homogeneous regions including mean and variance were measured and the ratio of variance to mean was used as homogeneity criteria. For the computation of each voxel, the interpolation method was adaptively determined with respect to its local statistics. If the neighbouring pixels of a voxel satisfied the homogeneity criterion, its value was computed with an arithmetic mean filter. Otherwise, the voxel was probably locating in an inhomogeneous region and an adaptive distance-weighted (ADW) interpolation method was employed to compute its value. A resolution phantom and a subject’s forearm were reconstructed using the proposed algorithm and two other well-known methods - conventional distance-weighted (DW) and voxel nearest neighbourhood (VNN) interpolations. The comparison results demonstrated that the adaptive interpolation algorithm was able to suppress speckles, preserve edges and enhance contrast effectively for the volume reconstruction.     

Development of a portable 3D ultrasound imaging system for musculoskeletal tissues

3D ultrasound is a promising imaging modality for clinical diagnosis and treatment monitoring. Its cost is relatively low in comparison with CT and MRI, no intensive training and radiation protection is required for its operation, and its hardware is movable and can potentially be portable. In this study, we developed a portable freehand 3D ultrasound imaging system for the assessment of musculoskeletal body parts. A portable ultrasound scanner was used to obtain real-time B-mode ultrasound images of musculoskeletal tissues and an electromagnetic spatial sensor was fixed on the ultrasound probe to acquire the position and orientation of the images. The images were digitized with a video digitization device and displayed with its orientation and position synchronized in real-time with the data obtained by the spatial sensor. A program was developed for volume reconstruction, visualization, segmentation and measurement using Visual C++ and Visualization toolkits (VTK) software. A 2D Gaussian filter and a Median filter were implemented to improve the quality of the B-scan images collected by the portable ultrasound scanner. An improved distance-weighted grid-mapping algorithm was proposed for volume reconstruction. Temporal calibrations were conducted to correct the delay between the collections of images and spatial data. Spatial calibrations were performed using a cross-wire phantom. The system accuracy was validated by one cylinder and two cuboid phantoms made of silicone. The average errors for distance measurement in three orthogonal directions in comparison with micrometer measurement were 0.06 ± 0.39, −0.27 ± 0.27, and 0.33 ± 0.39 mm, respectively. The average error for volume measurement was −0.18% ± 5.44% for the three phantoms. The system has been successfully used to obtain the volume images of a fetus phantom, the fingers and forearms of human subjects. For a typical volume with 126 × 103 × 109 voxels, the 3D image could be reconstructed from 258 B-scans (640 × 480 pixels) within one minute using a portable PC with Pentium IV 2.4 GHz CPU and 512 MB memories. It is believed that such a portable volume imaging system will have many applications in the assessment of musculoskeletal tissues because of its easy accessibility.     

Reconstruction of 3D ultrasound images based on Cyclic Regularized Savitzky-Golay filters

This paper presents a new three-dimensional (3D) ultrasound reconstruction algorithm for generation of 3D images from a series of two-dimensional (2D) B-scans acquired in the mechanical linear scanning framework. Unlike most existing 3D ultrasound reconstruction algorithms, which have been developed and evaluated in the freehand scanning framework, the new algorithm has been designed to capitalize the regularity pattern of the mechanical linear scanning, where all the B-scan slices are precisely parallel and evenly spaced. The new reconstruction algorithm, referred to as the Cyclic Regularized Savitzky-Golay (CRSG) filter, is a new variant of the Savitzky-Golay (SG) smoothing filter. The CRSG filter has been improved upon the original SG filter in two respects: First, the cyclic indicator function has been incorporated into the least square cost function to enable the CRSG filter to approximate nonuniformly spaced data of the unobserved image intensities contained in unfilled voxels and reduce speckle noise of the observed image intensities contained in filled voxels. Second, the regularization function has been augmented to the least squares cost function as a mechanism to balance between the degree of speckle reduction and the degree of detail preservation. The CRSG filter has been evaluated and compared with the Voxel Nearest-Neighbor (VNN) interpolation post-processed by the Adaptive Speckle Reduction (ASR) filter, the VNN interpolation post-processed by the Adaptive Weighted Median (AWM) filter, the Distance-Weighted (DW) interpolation, and the Adaptive Distance-Weighted (ADW) interpolation, on reconstructing a synthetic 3D spherical image and a clinical 3D carotid artery bifurcation in the mechanical linear scanning framework. This preliminary evaluation indicates that the CRSG filter is more effective in both speckle reduction and geometric reconstruction of 3D ultrasound images than the other methods.     

基于超快超声多普勒的三维脑损伤成像方法研究

三维超声微血管成像可直观呈现血流信息,对于脑血管疾病诊断和治疗具有重要意义。本文旨在将超快超声成像技术、超快超声功率多普勒技术和机械扫描相结合,实现脑血管三维成像和脑缺血区域评价。通过工程实现,完成了可同步控制微型线性位移平台移动和超声阵列超快发射、高速采集与压缩存储的三维扫描数据采集序列与系统。利用GPU并行运算,高效实现了超声图像波束合成方法,对原始射频超声数据完成重建。进而,基于SVD杂波滤除技术,从重建三维超声数据中提取了脑部的动态小血管信号,并获得了各切面的功率多普勒成像和冠状面彩色多普勒超声小血管成像。最后,采用体素方法对三维脑血管进行重建。大鼠在体实验结果表明,该成像系统可用于三维脑血管网络在体成像,以及脑血管损伤区域定位与量化评价。本工作对脑病检测技术发展与诊断方法研究具有一定的借鉴意义。此外,相关检测系统和成像算法具有一定普适性,对其他富含微血流血管的组织检测也有一定的参考价值。     

3D ultrasound reconstruction algorithms from analog and digital data

Freehand 3D ultrasound is increasingly being introduced in the clinic for diagnostics and image-assisted interventions. Various algorithms exist for combining 2D images of regular ultrasound probes to 3D volumes, being either voxel-, pixel- or function-based. Previously, the most commonly used input to 3D ultrasound reconstruction has been digitized analog video. However, recent scanners that offer access to digital image frames exist, either as processed or unprocessed data. To our knowledge, no comparison has been performed to determine which data source gives the best reconstruction quality. In the present study we compared both reconstruction algorithms and data sources using novel comparison methods for detecting potential differences in image quality of the reconstructed volumes. The ultrasound scanner used in this study was the Sonix RP from Ultrasonix Medical Corp (Richmond, Canada), a scanner that allow third party access to unprocessed and processed digital data. The ultrasound probe used was the L14-5/38 linear probe. The assessment is based on a number of image criteria: detectability of wire targets, spatial resolution, detectability of small barely visible structures, subjective tissue image quality, and volume geometry. In addition we have also performed the more “traditional” comparison of reconstructed volumes by removing a percentage of the input data. By using these evaluation methods and data from the specific scanner, the results showed that the processed video performed better than the digital scan-line data, digital video being better than analog video. Furthermore, the results showed that the choice of video source was more important than the choice of tested reconstruction algorithms.     

Sectional image reconstruction and three-dimensional microscopy of small particles by angular spectrum method

In this letter, we demonstrate sectional image reconstruction and three-dimensional microscopy of small particles. We demonstrate sectional image reconstruction and holographic methods to obtain 2D and 3D images of small particles. A single hologram is sufficient to obtain a section containing only the focused parts of the reconstructed image. One can obtain images of different plane sections of a specimen in addition to its 3D display. The reconstruction of a digital hologram is based on the plane-wave expansion of the diffracted wave fields using Fourier optics (this method is also known as the angular spectrum method). With this method, the object-to-hologram distance can be quite small because the minimum-distance requirement does not apply. Furthermore, numerical reconstruction of transparent objects by this method may be interesting for micro-structure measurement.     

Large depth-of-view portable three-dimensional laser scanner and its segmental calibration for robot vision

A portable 3D laser scanning system has been designed and built for robot vision. By tilting the charge coupled device (CCD) plane of portable 3D scanning system according to the Scheimpflug condition, the depth-of-view is successfully extended from less than 40 to 100 mm. Based on the tilted camera model, the traditional two-step camera calibration method is modified by introducing the angle factor. Meanwhile, a novel segmental calibration approach, i.e., dividing the whole work range into two parts and calibrating, respectively, with corresponding system parameters, is proposed to effectively improve the measurement accuracy of the large depth-of-view 3D laser scanner. In the process of 3D reconstruction, different calibration parameters are used to transform the 2D coordinates into 3D coordinates according to the different positions of the image in the CCD plane, and the measurement accuracy of is obtained experimentally. Finally, the experiment of scanning a lamina by the large depth-of-view portable 3D laser scanner used by an industrial robot IRB 4400 is also employed to demonstrate the effectiveness and high measurement accuracy of our scanning system.     

无衍射特殊光束的产生与三维表征

无衍射光束(如贝塞尔光束、艾里光束)因具有无衍射、自愈合的特性, 在很多领域都有广泛的应用. 本文提出使用纯相位型空间光调制器对光场的复振幅进行调控, 从而可以产生多种复杂模式的无衍射光束, 如强度可独立调控的多个零阶贝塞尔光束, 两个高阶贝塞尔光束干涉生成的花瓣状无衍射光束, 具有多个主瓣的加速光束等特殊的无衍射光束. 通过在待测焦场附近放置一个平面反射镜, 使其沿光轴快速扫描光场, 并由数字相机同步拍摄反射回来的一系列二维光场强度分布信息, 可实现对无衍射光束三维光场强度分布的快速测量和表征. 本实验方法和技术可以快速产生各种复杂的特殊光场并获得其精确的三维可视化重建效果, 在光学显微、光学俘获、光学微加工等领域有潜在的应用价值.     

New multi-volume rendering technique for three-dimensional power Doppler imaging

In this paper, we present a new multi-volume rendering technique (i.e., progressive fusion) to combine 3D anatomical structures from B-mode imaging and flow information from power Doppler imaging. A post-fusion technique, in which B-mode and power Doppler volumes are independently rendered and then fused based on alpha blending, is typically used in 3D power Doppler imaging. However, it has limitations in preserving the spatial relationship (i.e., depth order) between tissue structure and vasculature since they are rendered independently and then merged. With the proposed progressive fusion, B-mode and power Doppler volumes are composited together while rendering by sharing the opacity values. After compositing, two rendered frames are blended by utilizing a 2D color lookup table designed to fuse two properties (i.e., tissues and blood flows). We have evaluated the progressive-fusion multi-volume rendering method with the phantom and in vivo data acquired using a commercial ultrasound machine (EUB-8500, Hitachi Medical Corporation, Japan) with a 3.5 MHz mechanical probe. From the preliminary study, we have found that the new progressive-fusion method can better retain and display the spatial relationship between tissue structure, vasculature and their corresponding depth order.     

An image encryption scheme based on three-dimensional Brownian motion and chaotic system

At present, many chaos-based image encryption algorithms have proved to be unsafe, few encryption schemes permute the plain images as three-dimensional(3D) bit matrices, and thus bits cannot move to any position, the movement range of bits are limited, and based on them, in this paper we present a novel image encryption algorithm based on 3D Brownian motion and chaotic systems. The architecture of confusion and diffusion is adopted. Firstly, the plain image is converted into a 3D bit matrix and split into sub blocks. Secondly, block confusion based on 3D Brownian motion(BCB3DBM)is proposed to permute the position of the bits within the sub blocks, and the direction of particle movement is generated by logistic-tent system(LTS). Furthermore, block confusion based on position sequence group(BCBPSG) is introduced, a four-order memristive chaotic system is utilized to give random chaotic sequences, and the chaotic sequences are sorted and a position sequence group is chosen based on the plain image, then the sub blocks are confused. The proposed confusion strategy can change the positions of the bits and modify their weights, and effectively improve the statistical performance of the algorithm. Finally, a pixel level confusion is employed to enhance the encryption effect. The initial values and parameters of chaotic systems are produced by the SHA 256 hash function of the plain image. Simulation results and security analyses illustrate that our algorithm has excellent encryption performance in terms of security and speed.     

Short T2 contrast with three-dimensional ultrashort echo time imaging

There is increasing interest in imaging short T2 species which show little or no signal with conventional magnetic resonance (MR) pulse sequences. In this paper, we describe the use of three-dimensional ultrashort echo time (3D UTE) sequences with TEs down to 8 μs for imaging of these species. Image contrast was generated with acquisitions using dual echo 3D UTE with echo subtraction, dual echo 3D UTE with rescaled subtraction, long T2 saturation 3D UTE, long T2 saturation dual echo 3D UTE with echo subtraction, single adiabatic inversion recovery 3D UTE, single adiabatic inversion recovery dual echo 3D UTE with echo subtraction and dual adiabatic inversion recovery 3D UTE. The feasibility of using these approaches was demonstrated in in vitro and in vivo imaging of calcified cartilage, aponeuroses, menisci, tendons, ligaments and cortical bone with a 3-T clinical MR scanner. Signal-to-noise ratios and contrast-to-noise ratios were used to compare the techniques.     

基于赋权连接图的增量式运动恢复结构算法北大核心CSCD

运动恢复结构算法(structure from motion, SfM)是一种通过计算图像匹配关系,恢复出相机位姿和目标三维结构的重建算法。提出一种基于赋权视角连接图的增量式运动恢复结构算法。首先建立基于图像对立体匹配质量的赋权连接图,量化了图像两两之间的匹配关系;其次在赋权连接图中边的权重的基础上,搜索度数感知的最佳初始种子对;最后根据已重建顶点的连通性构建下一张最佳图像候选集,设计了基于顶点度数与特征点分布的下一张最佳图像评价算法。在公开数据集上实验结果显示,本文算法在重建质量、相机校准率和点云生成数量的表现优于现有先进的运动恢复结构算法,相比基准对比算法,本文算法在不同数据集上平均重建耗时至少降低了19%,点云生成速率至少提升了21%。     

Recent advances in 3D SEM surface reconstruction

The scanning electron microscope (SEM), as one of the most commonly used instruments in biology and material sciences, employs electrons instead of light to determine the surface properties of specimens. However, the SEM micrographs still remain 2D images. To effectively measure and visualize the surface attributes, we need to restore the 3D shape model from the SEM images. 3D surface reconstruction is a longstanding topic in microscopy vision as it offers quantitative and visual information for a variety of applications consisting medicine, pharmacology, chemistry, and mechanics. In this paper, we attempt to explain the expanding body of the work in this area, including a discussion of recent techniques and algorithms. With the present work, we also enhance the reliability, accuracy, and speed of 3D SEM surface reconstruction by designing and developing an optimized multi-view framework. We then consider several real-world experiments as well as synthetic data to examine the qualitative and quantitative attributes of our proposed framework. Furthermore, we present a taxonomy of 3D SEM surface reconstruction approaches and address several challenging issues as part of our future work.     

Vibration and instability of a single-walled carbon nanotube in a three-dimensional magnetic field

The vibration and instability of a single-walled carbon nanotube (SWCNT) under a general magnetic field are of particular interest to researchers. Using nonlocal Rayleigh beam theory and Maxwell’s equations, the dimensionless governing equations pertinent to the free vibration of a SWCNT due to a general magnetic field were derived. The effects of the longitudinal and transverse magnetic fields on the longitudinal and flexural frequencies as well as their corresponding phase velocities were addressed and are discussed below. The critical transverse magnetic field (CTMF) associated with the lateral buckling of the SWCNT was obtained. The obtained results reveal that the CTMF increases with the longitudinally induced magnetic field. Further, its value decreases as the effect of the small-scale parameter increases.     

Advancement of three-dimensional noise mapping in Hong Kong

The dramatic enhancement of computation power, rapid development in Geographic Information System (GIS), three-dimensional (3D) computer graphic and virtual reality technology; and the wide availability of digital topographic and mapping data have facilitated the substantial advancement in road traffic noise assessments and data presentation in Hong Kong. Two-dimensional (2D) and even 3D noise mapping over a large geographical area has now become a more manageable task. In Hong Kong, very often roads are in close proximity to the sky-scrapers and 2D noise mappings are simply inadequate in accurately portraying the noise exposure environment. Traditional commercially available noise modelling tools are incapable of handling the complex topography, building geometry and noise screening structures of Hong Kong. 3D presentation tools integrating noise modelling, GIS and computer graphics are needed to portray the noise environment in the unique high-rise townscape of Hong Kong. This paper outlines the development of advanced 3D GIS tools, information technologies and how they were put into trials and implementation in Hong Kong. Particular attention is given to the dissemination of noise information to the community, be it for public education, engagement or consultation; and recent advances in the availability of such information interactively, and in a user-friendly manner, through the internet.     

基于射线模型的超声声速层析算法研究进展

得益于超声换能器硬件的进步和数据采集速度的提升,超声层析成像近年来得到了越来越多的关注,特别是在乳腺成像领域.超声层析成像中的声速图像分布可以为乳腺组织表征提供良好的定量分析数据,进而使得超声层析成像在乳腺癌的诊断方面有着良好的应用前景.目前,超声声速层析重建方法主要包括基于射线模型和全波模型的两大类算法.基于射线模型...