Physiological assessment of in vivo human knee articular cartilage using sodium MR imaging at 1.5 T

Osteoarthritis is a common joint disorder that is most prevalent in the knee joint. Knee osteoarthritis (OA) can be characterized by the gradual loss of articular cartilage (AC). Formation of lesion, fissures and cracks on the cartilage surface has been associated with degenerative AC and can be measured by morphological assessment. In addition, loss of proteoglycan from extracellular matrix of the AC can be measured at early stage of cartilage degradation by physiological assessment. In this case, a biochemical phenomenon of cartilage is used to assess the changes at early degeneration of AC. In this paper, a method to measure local sodium concentration in AC due to proteoglycan has been investigated. A clinical 1.5-T magnetic resonance imaging (MRI) with multinuclear spectroscopic facility is used to acquire sodium images and quantify local sodium content of AC. An optimised 3D gradient-echo sequence with low echo time has been used for MR scan. The estimated sodium concentration in AC region from four different data sets is found to be ~ 225 ± 19 mmol/l, which matches the values that has been reported for the normal AC. This study shows that sodium images acquired at clinical 1.5-T MRI system can generate an adequate quantitative data that enable the estimation of sodium concentration in AC. We conclude that this method is potentially suitable for non-invasive physiological (sodium content) measurement of articular cartilage.     

MRI magic-angle effect in femorotibial cartilages of the red kangaroo

ObjectiveKangaroo knee cartilages are robust tissues that can support knee flexion and endure high levels of compressive stress. This study aimed to develop a detailed understanding of the collagen architecture in kangaroo knee cartilages and thus obtain insights into the biophysical basis of their function.DesignCylindrical/square plugs from femoral and tibial hyaline cartilage and tibial fibrocartilage were excised from the knees of three adult red kangaroos. Multi-slice, multi-echo MR images were acquired at the sample orientations 0° and 55° (“magic angle”) with respect to the static magnetic field. Maps of the transverse relaxation rate constant (R₂) and depth profiles of R₂ and its anisotropic component (R₂^A) were constructed from the data.ResultsThe R₂^A profiles confirmed the classic three-zone organisation of all cartilage samples. Femoral hyaline cartilage possessed a well-developed, thick superficial zone. Tibial hyaline cartilage possessed a very thick radial zone (80% relative thickness) that exhibited large R₂^A values consistent with highly ordered collagen. The R₂^A profile of tibial fibrocartilage exhibited a unique region near the bone (bottom 5–10%) consistent with elevated proteoglycan content (“attachment sub-zone”).ConclusionsOur observations suggest that the well-developed superficial zone of femoral hyaline cartilage is suitable for supporting knee flexion; the thick and well-aligned radial zone of tibial hyaline cartilage is adapted to endure high compressive stress; while the innermost part of the radial zone of tibial fibrocartilage may facilitate anchoring of the collagen fibres to withstand high shear deformation. These findings may inspire new designs for cartilage tissue engineering.     

Knee osteochondral junction imaging using a fast 3D T1-weighted ultrashort echo time cones sequence at 3T

The osteochondral junction (OCJ) of the knee joint is comprised of multiple tissue components, including a portion of the deep layer cartilage, calcified cartilage, and subchondral bone. The OCJ is of increasing radiological interest as it may be relevant in the early pathogenesis of osteoarthritis (OA). Due to its short transverse relaxation, the OCJ is invisible to clinical MR sequences. The purpose of this study was to develop a fast 3D T₁-weighted ultrashort echo time cones sequence with fat saturation (FS-UTE-Cones) for high resolution and high contrast imaging of the OCJ on a clinical 3T scanner. First, numerical simulations were performed to investigate how the flip angle affected the signal intensities and contrasts of both short and long T₁ tissues. The results from these simulations demonstrated that higher short T₁ contrast could be achieved with higher flip angle. Next, T₁ relaxation was measured for the different layers of a human patellar cartilage sample, and the results showed that the deepest layer had a significantly shorter T₁ value than other layers. Finally, a healthy knee joint was scanned with different flip angles and the OCJ was highlighted in the T₁-weighted FS-UTE-Cones sequence using a flip angle greater than 20°. The clinical T₂-weighted and proton density-weighted FSE sequences were also included for comparison, revealing a dark OCJ region. Representative T₁-weighted FS-UTE-Cones images of the whole knee of a healthy volunteer showed high signal intensity bands in the OCJ regions of the patella, femur, and tibia. On the other hand, T₁-weighted FS-UTE-Cones imaging of the knee joints of OA patients revealed regions with reduction or loss of these high signal intensity bands in the OCJ regions, indicating abnormal OCJ tissue composition. The proposed 3D T₁-weighted FS-UTE-Cones sequence with a 3-min scan time may be very useful for demonstrating the involvement of the OCJ regions in early OA.     

The influence of the resolution and contrast on measuring the articular cartilage volume in magnetic resonance images

The progression of OA in patients may be followed by measuring the volume of articular cartilage from MR images. We attempted to determine the reproducibility of volume measurements of articular cartilage made from magnetic resonance images of the knees and the dependence of the reproducibility on image resolution and contrast-to-noise. A fat-suppressed 3D technique was used to generate four image sets with different image resolution. Each patient was imaged twice to obtain image pairs at each resolution. To assess the dependence of reproducibility on noise we generated six image sets for each patient by adding noise to the original images and repeating the comparison. On each image set, the femoral, tibial, and patellar cartilage were outlined by a combination of computer and manual methods, and the images were used to calculate the volume of each cartilage plate. Comparing the coefficient of variance between the volume measurements made from the two visits, the volume measurements made from images with the highest resolution (0.275 x 0.275 x 1.0 mm) had the highest reproducibility. The high resolution images of the tibia and femur had the least partial-volume averaging and, as a result, better defined the boundaries between cartilage and adjacent tissues. A different trend was evident for the patella. For studies of osteoarthritis therapies, we recommend using MR images with the highest possible in-plane spatial resolution to provide the most reproducible volume measurements of knee cartilage.     

A variational approach to image registration in dynamic contrast-enhanced MRI of the human kidney

Kidney function can be accessed by dynamic contrast-enhanced magnetic resonance imaging (DCE-MRI) measurements which yield spatially resolved maps of physiological parameters like perfusion or filtration. The motion of the kidneys during the scan is a dominant limitation of the measurement quality, and image registration is necessary for accurate quantification. We analyzed the feasibility of applying an algorithm, originally developed for multimodal registration, to kidney perfusion time series. The algorithm uses a variational calculation scheme to align the images. In four out of five data sets, kidney motion could be reduced to below the spatial resolution of the images of 1.6 mm while preserving the enhancement pattern of kidney perfusion. Fitting a pharmacokinetic model to the data showed an average reduction of the Akaike fit error of 10% for the registered data, suggesting more stable parameters. We conclude that this image registration algorithm is feasible for correcting kidney motion in renal DCE-MRI.     

Magnetic resonance T1ρ imaging of osteoarthritis: a rabbit ACL transection model

Objective

The objective of this study was to develop quantitative T_1ρ-weighted magnetic resonance imaging methodology for the detection and characterization of cartilage degeneration in a rabbit anterior cruciate ligament (ACL) transection model.

Methods

The right knee ACLs of 18 adult female New Zealand white rabbits were transected. The left knee joint served as a sham control. The rabbits were euthanized at 3 (Group 1), 6 (Group 2) and 12 (Group 3) weeks postoperatively. High-resolution 3D fat-saturated spoiled gradient echo images and T_1ρ-weighted images were obtained in both the sagittal and axial planes at 3 T using a quadrature wrist coil. Following MR analysis, histological slides from the lateral femoral condyle cartilage were graded using the Mankin grading system.

Results

For all three groups, the average overall T_1ρ values were significantly higher in the ACL-transected knee compared to control knee, and the percentage differences in T_1ρ values between ACL-transected and control increased with the duration of time after transection. The average Mankin score for ACL-transected knees was higher than that for control for each time point, but this difference was statistically significant only for all groups combined.

Conclusions

This study demonstrates the feasibility of using T_1ρ-weighted imaging as a useful tool in the detection and quantification of cartilage damage in all knee compartments in an ACL-transected rabbit model of cartilage degeneration.     

Automated registration of sequential breath-hold dynamic contrast-enhanced MR images: a comparison of three techniques

Dynamic contrast-enhanced magnetic resonance imaging (DCE-MRI) is increasingly in use as an investigational biomarker of response in cancer clinical studies. Proper registration of images acquired at different time points is essential for deriving diagnostic information from quantitative pharmacokinetic analysis of these data. Motion artifacts in the presence of time-varying intensity due to contrast enhancement make this registration problem challenging. DCE-MRI of chest and abdominal lesions is typically performed during sequential breath-holds, which introduces misregistration due to inconsistent diaphragm positions and also places constraints on temporal resolution vis-à-vis free-breathing. In this work, we have employed a computer-generated DCE-MRI phantom to compare the performance of two published methods, Progressive Principal Component Registration and Pharmacokinetic Model-Driven Registration, with Sequential Elastic Registration (SER) to register adjacent time-sample images using a published general-purpose elastic registration algorithm. In all three methods, a 3D rigid-body registration scheme with a mutual information similarity measure was used as a preprocessing step. The DCE-MRI phantom images were mathematically deformed to simulate misregistration, which was corrected using the three schemes. All three schemes were comparably successful in registering large regions of interest (ROIs) such as muscle, liver, and spleen. SER was superior in retaining tumor volume and shape, and in registering smaller but important ROIs such as tumor core and tumor rim. The performance of SER on clinical DCE-MRI data sets is also presented.     

The registration of MR images using multiscale robust methods

Acquisition of MR images involves their registration against some prechosen reference image. Motion artifacts and misregistration can seriously flaw their interpretation and analysis. This article provides a global registration method that is robust in the presence of noise and local distortions between pairs of images. It uses a two-stage approach, comprising an optional Fourier phase-matching method to carry out preregistration, followed by an iterative procedure. The iterative stage uses a prescribed set of registration points, defined on the reference image, at which a robust nonlinear regression is computed from the squared residuals at these points. The method can readily accommodate general linear, or even nonlinear, registration transformations on the images. The algorithm was tested by recovering the registration transformation parameters when a 256 × 256 pixel T₂¹-weighted human brain image was scaled, rotated, and translated by prescribed amounts, and to which different amounts of Gaussian noise had been added. The results show subpixel accuracy of recovery when no noise is present, and graceful degradation of accuracy as noise is added. When 40% noise is added to images undergoing small shifts, the recovery errors are less than 3 pixels. The same tests applied to the Woods algorithm gave slightly inferior accuracy for these images, but failed to converge to the correct parameters in some cases of large-scale-shifted images with 10% added noise.     

Clinical high-resolution mapping of the proteoglycan-bound water fraction in articular cartilage of the human knee joint

PurposeWe applied our recently introduced Bayesian analytic method to achieve clinically-feasible in-vivo mapping of the proteoglycan water fraction (PgWF) of human knee cartilage with improved spatial resolution and stability as compared to existing methods.Materials and methodsMulticomponent driven equilibrium single-pulse observation of T₁ and T₂ (mcDESPOT) datasets were acquired from the knees of two healthy young subjects and one older subject with previous knee injury. Each dataset was processed using Bayesian Monte Carlo (BMC) analysis incorporating a two-component tissue model. We assessed the performance and reproducibility of BMC and of the conventional analysis of stochastic region contraction (SRC) in the estimation of PgWF. Stability of the BMC analysis of PgWF was tested by comparing independent high-resolution (HR) datasets from each of the two young subjects.ResultsUnlike SRC, the BMC-derived maps from the two HR datasets were essentially identical. Furthermore, SRC maps showed substantial random variation in estimated PgWF, and mean values that differed from those obtained using BMC. In addition, PgWF maps derived from conventional low-resolution (LR) datasets exhibited partial volume and magnetic susceptibility effects. These artifacts were absent in HR PgWF images. Finally, our analysis showed regional variation in PgWF estimates, and substantially higher values in the younger subjects as compared to the older subject.ConclusionsBMC-mcDESPOT permits HR in-vivo mapping of PgWF in human knee cartilage in a clinically-feasible acquisition time. HR mapping reduces the impact of partial volume and magnetic susceptibility artifacts compared to LR mapping. Finally, BMC-mcDESPOT demonstrated excellent reproducibility in the determination of PgWF.     

Reproducibility of the quantitative assessment of cartilage morphology and trabecular bone structure with magnetic resonance imaging at 7 T

To assess the reproducibility of quantitative measurements of cartilage morphology and trabecular bone structure of the knee at 7 T, high-resolution sagittal spoiled gradient-echo images and high-resolution axial fully refocused steady-state free-precession (SSFP) images from six healthy volunteers were acquired with a 7-T scanner. The subjects were repositioned between repeated scans to test the reproducibility of the measurements. The reproducibility of each measurement was evaluated using the coefficient(s) of variation (CV). The computed CV were 1.13% and 1.55% for cartilage thickness and cartilage volume, respectively, and were 2.86%, 1.07%, 2.27% and 3.30% for apparent bone volume over total volume fraction (app.BV/TV), apparent trabecular number (app.Tb.N), apparent trabecular separation (app.Tb.Sp) and apparent trabecular thickness (app.Tb.Th), respectively. The results demonstrate that quantitative assessment of cartilage morphology and trabecular bone structure is reproducible at 7 T and motivates future musculoskeletal applications seeking the high-field strength's superior signal-to-noise ratio.     

Bilaminar pattern of tibial condyle cartilage layer on the fat-suppressed 3D gradient echo images: artifact or structural and biochemical difference in composition of cartilage?

The purpose of this study was to examine if an unusual bilaminar pattern of lateral tibial condyle cartilage layer on the fat-suppressed three-dimensional (3D) spoiled gradient echo sequence is artifactual or correlates with structural and/or biochemical composition of cartilage. The laminar appearance of the lateral tibial condyle cartilage layer was studied on fat-suppressed 3D spoiled gradient echo MR images of the knee joint in 67 patients (mean age: 28y) performed at 1.0 Tesla. After i.v. administration of gadopentetate dimeglumine, diffusion of the contrast media into cartilage layer was qualitatively analysed over time on inversion recovery spin echo images of knee joints of five asymptomatic volunteers (mean age: 25y). In a patient with osteosarcoma and total knee replacement, MR examination of cartilage layer of lateral tibial plateau was compared with histologic specimens stained with Safranin-O, demonstrating proteoglycan distribution in cartilage. The retrospective analysis of 67 knee joints revealed a bilaminar appearance of lateral tibial condyle cartilage layer in the gradient echo images in the majority of cases (81%) with a statistically significant tendency to a trilaminar pattern in patients older than 20 years. With i.v. contrast administration, the contrast enhancement was only observed in the superficial zone of tibial cartilage layer. Histologic specimens in one patient demonstrated a good correlation between thickness of proteoglycan-free and proteoglycan-rich laminae of lateral tibial condyle on Safranin-O staining with hyperintense and hypointense zones, respectively, on corresponding fat-suppressed 3D spoiled gradient echo images (correlation coefficient of 0.87). Bilaminar pattern of tibial condyle cartilage layer on fat-suppressed 3D spoiled gradient echo images in younger subjects is not an artifact or an intrachondral lesion, but it may represent a regional difference in composition of extracellular cartilage matrix possibly produced by a highly-oriented collagen fiber structure associated with a high concentration of proteoglycans in the middle and deep portion of the cartilage layer.     

MR image-based measurement of rates of change in volumes of brain structures. Part I: method and validation

A detailed analysis procedure is described for evaluating rates of volumetric change in brain structures based on structural magnetic resonance (MR) images. In this procedure, a series of image processing tools have been employed to address the problems encountered in measuring rates of change based on structural MR images. These tools include an algorithm for intensity non-uniformity correction, a robust algorithm for three-dimensional image registration with sub-voxel precision and an algorithm for brain tissue segmentation. However, a unique feature in the procedure is the use of a fractional volume model that has been developed to provide a quantitative measure for the partial volume effect. With this model, the fractional constituent tissue volumes are evaluated for voxels at the tissue boundary that manifest partial volume effect, thus allowing tissue boundaries be defined at a sub-voxel level and in an automated fashion. Validation studies are presented on key algorithms including segmentation and registration. An overall assessment of the method is provided through the evaluation of the rates of brain atrophy in a group of normal elderly subjects for which the rate of brain atrophy due to normal aging is predictably small. An application of the method is given in Part II where the rates of brain atrophy in various brain regions are studied in relation to normal aging and Alzheimer's disease.     

用于光学系统分析的质心配准法

将图像区域像素的统计特征引入活动轮廓模型,提出使分割轮廓所包括区域的质心对应角均方根误差极小的最优搜索方法——质心配准法。质心配准法有效地避免了散斑噪声等图像污染对图像区域分割精度的影响,实现了模糊图像精确的区域分割,求得图像最佳配准参数。对实际光学系统输出的多幅具有较大空时互补性的低分辨率图像进行了仿真实验,实验结果表明：该配准算法具有较高的精度,并在光学系统分析上得到了很好的应用。     

Automatic knee cartilage segmentation from multi-contrast MR images using support vector machine classification with spatial dependencies

Accurate segmentation of knee cartilage is required to obtain quantitative cartilage measurements, which is crucial for the assessment of knee pathology caused by musculoskeletal diseases or sudden injuries. This paper presents an automatic knee cartilage segmentation technique which exploits a rich set of image features from multi-contrast magnetic resonance (MR) images and the spatial dependencies between neighbouring voxels. The image features and the spatial dependencies are modelled into a support vector machine (SVM)-based association potential and a discriminative random field (DRF)-based interaction potential. Subsequently, both potentials are incorporated into an inference graphical model such that the knee cartilage segmentation is cast into an optimal labelling problem which can be efficiently solved by loopy belief propagation. The effectiveness of the proposed technique is validated on a database of multi-contrast MR images. The experimental results show that using diverse forms of image and anatomical structure information as the features are helpful in improving the segmentation, and the joint SVM-DRF model is superior to the classification models based solely on DRF or SVM in terms of accuracy when the same features are used. The developed segmentation technique achieves good performance compared with gold standard segmentations and obtained higher average DSC values than the state-of-the-art automatic cartilage segmentation studies.     

基于级联网络的膝关节图像分割与模型构建

采用膝关节模型进行电磁仿真是计算膝关节局部射频功率沉积（SAR）的主要方法,为了构建膝关节模型,本文提出了一种包含两个卷积神经网络——U-Net的级联网络结构,用于膝关节磁共振图像的分割．第一个网络在整幅图上分割肌肉、脂肪等占比较大的组织,并从分割结果中预测软骨与半月板的大致位置信息,第二个网络基于该信息在一个更小的子图上分割小组织以提高分割精度．两个网络均采用焦点损失函数,它们的分割结果合并在一起构成膝关节模型．我们将该方法与其它4种方法的分割结果进行了定量指标的对比研究,并分别构建膝关节模型,计算局部SAR值．结果表明本文提出的级联网络结构可以更精确的构建用于SAR仿真的膝关节模型．     

In vivo structural analysis of articular cartilage using diffusion tensor magnetic resonance imaging

Purpose

The articular cartilage is a small tissue with a matrix structure of three layers between which the orientation of collagen fiber differs. A diffusion-weighted twice-refocused spin-echo echo-planar imaging (SE-EPI) sequence was optimized for the articular cartilage, and the structure of the three layers of human articular cartilage was imaged in vivo from diffusion tensor images.

Materials and Methods

The subjects imaged were five specimens of swine femur head after removal of the flesh around the knee joint, five specimens of swine articular cartilage with flesh present and the knee cartilage of five adult male volunteers. Based on diffusion-weighted images in six directions, the mean diffusivity (MD) and the fractional anisotropy (FA) values were calculated.

Results

Diffusion tensor images of the articular cartilage were obtained by sequence optimization. The MD and FA value of the specimens (each of five examples) under different conditions were estimated. Although the articular cartilage is a small tissue, the matrix structure of each layer in the articular cartilage was obtained by SE-EPI sequence with GRAPPA. The MD and FA values of swine articular cartilage are different between the synovial fluid and saline. In human articular cartilage, the load of the body weight on the knee had an effect on the FA value of the surface layer of the articular cartilage.

Conclusion

This method can be used to create images of the articular cartilage structure, not only in vitro but also in vivo. Therefore, it is suggested that this method should support the elucidation of the in vivo structure and function of the knee joint and might be applied to clinical practice.     

Multichannel transceiver dual-tuned RF coil for proton/sodium MR imaging of knee cartilage at 3 T

Sodium magnetic resonance (MR) imaging is a promising technique for detecting changes of proteoglycan (PG) content in cartilage associated with knee osteoarthritis. Despite its potential clinical benefit, sodium MR imaging in vivo is challenging because of intrinsically low sodium concentration and low MR signal sensitivity. Some of the challenges in sodium MR imaging may be eliminated by the use of a high-sensitivity radiofrequency (RF) coil, specifically, a dual-tuned (DT) proton/sodium RF coil which facilitates the co-registration of sodium and proton MR images and the evaluation of both physiochemical and structural properties of knee cartilage. Nevertheless, implementation of a DT proton/sodium RF coil is technically difficult because of the coupling effect between the coil elements (particularly at high field) and the required compact design with improved coil sensitivity. In this study, we applied a multitransceiver RF coil design to develop a DT proton/sodium coil for knee cartilage imaging at 3 T. With the new design, the size of the coil was minimized, and a high signal-to-noise ratio (SNR) was achieved. DT coil exhibited high levels of reflection S11 (～-21 dB) and transmission coefficient S12 (～-19 dB) for both the proton and sodium coils. High SNR (range 27-38) and contrast-to-noise ratio (CNR) (range 15-21) were achieved in sodium MR imaging of knee cartilage in vivo at 3-mm(3) isotropic resolution. This DT coil performance was comparable to that measured using a sodium-only birdcage coil (SNR of 28 and CNR of 20). Clinical evaluation of the DT coil on four normal subjects demonstrated a consistent acquisition of high-resolution proton images and measurement of relative sodium concentrations of knee cartilages without repositioning of the subjects during the same MR scanning session.     

A nonrigid registration algorithm for longitudinal breast MR images and the analysis of breast tumor response

Dynamic contrast-enhanced magnetic resonance imaging (DCE-MRI) can estimate parameters relating to blood flow and tissue volume fractions and therefore may be used to characterize the response of breast tumors to treatment. To assess treatment response, values of these DCE-MRI parameters are observed at different time points during the course of treatment. We propose a method whereby DCE-MRI data sets obtained in separate imaging sessions can be co-registered to a common image space, thereby retaining spatial information so that serial DCE-MRI parameter maps can be compared on a voxel-by-voxel basis. In performing inter-session breast registration, one must account for patient repositioning and breast deformation, as well as changes in tumor shape and volume relative to other imaging sessions. One challenge is to optimally register the normal tissues while simultaneously preventing tumor distortion. We accomplish this by extending the adaptive bases algorithm through adding a tumor-volume preserving constraint in the cost function. We also propose a novel method to generate the simulated breast magnetic resonance (MR) images, which can be used to evaluate the proposed registration algorithm quantitatively. The proposed nonrigid registration algorithm is applied to both simulated and real longitudinal 3D high resolution MR images and the obtained transformations are then applied to lower resolution physiological parameter maps obtained via DCE-MRI. The registration results demonstrate the proposed algorithm can successfully register breast MR images acquired at different time points and allow for analysis of the registered parameter maps.     

基于大脑模板的MRI扫描自动定位方法

在大脑磁共振成像(MRI)影像学的数据采集中,通常先扫描一幅定位图像,并根据解剖学先验知识手动调整合适的扫描定位参数,再进行后续的正式扫描.该文实现了一种直接以大脑模板为参照的自动定位的方法:首先采集一幅中等分辨率的快速三维定位图像,然后通过与模板的配准确定定位参数,并应用到后续序列的扫描,以保证不同被试在图像采集时采用与模板一致的空间定位.该方法一方面便于不同被试的图像数据之间进行系统性比较与参照,帮助诊断者快速定位病灶,也可在后续常用的基于体素分析过程最大化数据的利用效率.另一方面,针对单个体多次扫描之间的自动定位,该文进一步使用迭代方法,通过多次"扫描、配准、自动定位"步骤,逐步减小图像配准算法的误差.实验证明,该文基于大脑模板的自动定位方法能够确保不同被试之间和同一被试之内在图像数据采集时的空间定位高度一致性,其中同一被试内多次扫描的空间定位误差1.0 mm和1.0o.     

基于局部血管结构特征的眼底图像二级配准

提出了一种结合全局配准和局部配准技术的眼底图像二级配准算法,该算法采用4个相连的分叉点组成的局部血管结构来代替单独的分叉点作为配准特征,通过减少配对点集,提高了配准效率.同时针对非线性形变造成的局部配准偏移较大的问题,在全局配准基础上进一步采用局部配准技术,提升了配准的准确度.实验结果表明,该算法以很高的配准效率和准确度有效实现了眼底图像的配准.