Motion Estimation Model for Cardiac and Respiratory Motion Compensation

Accurate fusion of late gadolinium enhancement magnetic resonance imaging (MRI) and electro-anatomical voltage mapping (EAM) is required to evaluate the potential of MRI to identify the substrate of ventricular tachycardia. However, both datasets are not acquired at the same cardiac phase and EAM data is corrupted with respiratory motion limiting the accuracy of current rigid fusion techniques. Knowledge of cardiac and respiratory motion during EAM is thus required to enhance the fusion process. In this study, we propose a novel approach to characterize both cardiac and respiratory motion from EAM data using the temporal evolution of the 3D catheter location recorded from clinical EAM systems. Cardiac and respiratory motion components are extracted from the recorded catheter location using multi-band filters. Filters are calibrated for each EAM point using estimates of heart rate and respiratory rate. The method was first evaluated in numerical simulations using 3D models of cardiac and respiratory motions of the heart generated from real time MRI data acquired in 5 healthy subjects. An accuracy of 0.6–0.7 mm was found for both cardiac and respiratory motion estimates in numerical simulations. Cardiac and respiratory motions were then characterized in 27 patients who underwent LV mapping for treatment of ventricular tachycardia. Mean maximum amplitude of cardiac and respiratory motion was 10.2±2.7 mm (min = 5.5, max = 16.9) and 8.8±2.3 mm (min = 4.3, max = 14.8), respectively. 3D Cardiac and respiratory motions could be estimated from the recorded catheter location and the method does not rely on additional imaging modality such as X-ray fluoroscopy and can be used in conventional electrophysiology laboratory setting.

Catheter tracking has become more and more important in recent interventional applications. It provides real time navigation for the physicians and can be used to control a motion compensated fluoro overlay reference image for other means of guidance, e.g. involving a 3D anatomical model. Tracking the coronary sinus (CS) catheter is effective to compensate respiratory and cardiac motion for 3D overlay navigation to assist positioning the ablation catheter in Atrial Fibrillation (Afib) treatments. During interventions, the CS catheter performs rapid motion and non-rigid deformation due to the beating heart and respiration. In this paper, we model the CS catheter as a set of electrodes. Novelly designed hypotheses generated by a number of learning-based detectors are fused. Robust hypothesis matching through a Bayesian framework is then used to select the best hypothesis for each frame. As a result, our tracking method achieves very high robustness against challenging scenarios such as low SNR, occlusion, foreshortening, non-rigid deformation, as well as the catheter moving in and out of ROI. Quantitative evaluation has been conducted on a database of 13221 frames from 1073 sequences. Our approach obtains 0.50mm median error and 0.76mm mean error. 97.8% of evaluated data have errors less than 2.00mm. The speed of our tracking algorithm reaches 5 frames-per-second on most data sets. Our approach is not limited to the catheters inside the CS but can be extended to track other types of catheters, such as ablation catheters or circumferential mapping catheters.

Rotational coronary angiography enables 3D reconstruction but suffers from intra-scan cardiac and respiratory motion. While gating handles cardiac motion, respiratory motion requires compensation. State-of-the-art algorithms rely on 3D-2D registration that depends on initial reconstructions of sufficient quality. We propose a compensation method that is applied directly in projection domain. It overcomes the need for reconstruction and thus complements the state-of-the-art. Virtual single-frame background subtraction based on vessel segmentation and spectral deconvolution yields non-truncated images of the contrasted lumen. This allows motion compensation based on data consistency conditions. We compensate craniocaudal shifts by optimizing epipolar consistency to (a) devise an image-based surrogate for cardiac motion and (b) compensate for respiratory motion. We validate our approach in two numerical phantom studies and three clinical cases. Correlation of the image-based surrogate for cardiac motion with the ECG-based ground truth was excellent yielding a Pearson correlation of 0.93±0.04. Considering motion compensation, the target error measure decreased by 98% and 69%, respectively, for the phantom experiments while for the clinical cases the same figure of merit improved by 46±21%. The proposed method is entirely image-based and accurately estimates craniocaudal shifts due to respiration and cardiac contraction. Future work will investigate experimental trajectories and possibilities for simplification of the single-frame subtraction pipeline.

Cardiac stereotactic body radiation therapy for refractory ventricular tachycardia: Impact of cardiac and respiratory movement on the target volume definition

X-ray fluoroscopically guided cardiac electrophysiological procedures are routinely carried out for diagnosis and treatment of cardiac arrhythmias. X-ray images have poor soft tissue contrast and, for this reason, overlay of static 3D roadmaps derived from pre-procedural volumetric data can be used to add anatomical information. However, the registration between the 3D roadmap and the 2D X-ray data can be compromised by patient respiratory motion. We propose a novel method to correct for respiratory motion using real-time image-based coronary sinus (CS) catheter tracking. The first step of the proposed technique is to use a blob detection method to detect all possible catheter electrodes in the Xray data. We then compute a cost function to select one CS catheter from all catheter-like objects. For correcting respiratory motion, we apply a low pass filter to the 2D motion of the CS catheter and update the 3D roadmap using this filtered motion. We tested our CS catheter tracking method on 1048 fluoroscopy frames from 15 patients and achieved a success rate of 99.3% and an average 2D tracking error of 0.4 mm +/- 0.2 mm. We also validated our respiratory motion correction strategy by computing the 2D target registration error (TRE) at the pulmonary veins and achieved a TRE of 1.6 mm +/- 0.9 mm.

Cardiac applications in radiation therapy are rapidly expanding including magnetic resonance guided radiation therapy (MRgRT) for real-time gating for targeting and avoidance near the heart or treating ventricular tachycardia (VT). This work describes the development and implementation of a novel multi-modality and magnetic resonance (MR)-compatible cardiac phantom. The patient-informed 3D model was derived from manual contouring of a contrast-enhanced Coronary Computed Tomography Angiography scan, exported as a Stereolithography model, then post-processed to simulate female heart with an average volume. The model was 3D-printed using Elastic50A to provide MR contrast to water background. Two rigid acrylic modules containing cardiac structures were designed and assembled, retrofitting to an MR-safe programmable motor to supply cardiac and respiratory motion in superior-inferior directions. One module contained a cavity for an ion chamber (IC), and the other was equipped with multiple interchangeable cavities for plastic scintillation detectors (PSDs). Images were acquired on a 0.35 T MR-linac for validation of phantom geometry, motion, and simulated online treatment planning and delivery. Three motion profiles were prescribed: patient-derived cardiac (sine waveform, 4.3mm peak-to-peak, 60 beats/min), respiratory (cos4 waveform, 30mm peak-to-peak, 12 breaths/min), and a superposition of cardiac (sine waveform, 4mm peak-to-peak, 70 beats/min) and respiratory (cos4 waveform, 24mm peak-to-peak, 12 breaths/min). The amplitude of the motion profiles was evaluated from sagittal cine images at eight frames/s with a resolution of 2.4mm × 2.4mm. Gated dosimetry experiments were performed using the two module configurations for calculating dose relative to stationary. A CT-based VT treatment plan was delivered twice under cone-beam CT guidance and cumulative stationary doses to multi-point PSDs were evaluated. No artifacts were observed on any images acquired during phantom operation. Phantom excursions measured 49.3±25.8%/66.9±14.0%, 97.0±2.2%/96.4±1.7%, and 90.4±4.8%/89.3±3.5% of prescription for cardiac, respiratory, and cardio-respiratory motion profiles for the 2-chamber (PSD) and 12-substructure (IC) phantom modules respectively. In the gated experiments, the cumulative dose was<2% from expected using the IC module. Real-time dose measured for the PSDs at 10Hz acquisition rate demonstrated the ability to detect the dosimetric consequences of cardiac, respiratory, and cardio-respiratory motion when sampling of different locations during a single delivery, and the stability of our phantom dosimetric results over repeated cycles for the high dose and high gradient regions. For the VT delivery, high dose PSD was<1% from expected (5-6 cGy deviation of 5.9Gy/fraction) and high gradient/low dose regions had deviations<3.6% (6.3 cGy less than expected 1.73Gy/fraction). A novel multi-modality modular heart phantom was designed, constructed, and used for gated radiotherapy experiments on a 0.35 T MR-linac. Our phantom was capable of mimicking cardiac, cardio-respiratory, and respiratory motion while performing dosimetric evaluations of gated procedures using IC and PSD configurations. Time-resolved PSDs with small sensitive volumes appear promising for low-amplitude/high-frequency motion and multi-point data acquisition for advanced dosimetric capabilities. Illustrating VT planning and delivery further expands our phantom to address the unmet needs of cardiac applications in radiotherapy.

To obtain multiphase cardiac cine images with high resolution, a novel self-gating method for both cardiac and respiratory motions is proposed. The proposed method uses the phase of projection data obtained from a separate axial slice to measure cardiac and respiratory motion, after the acquisition of every k-space line in the image plane. Cardiac motion is estimated from the phase of the projection data passing through the aorta, which is amplified by superior-inferior directional bipolar gradients, whereas respiratory motion is estimated from the phase of the left-right directional projection data of the abdomen. To verify the proposed self-gating method, a simulation and in vivo steady state free precession cardiac imaging were performed. The proposed method provides high resolution multiphase cardiac cine images. Using the proposed self-gating method, the phase variation of the projection data offers information about cardiac and respiratory motions that is equivalent to external gating devices. The proposed method can capture time-resolved cardiac and respiratory motion from the phase information of the projection data. Because the projection data is obtained from a separate gating slice, the self-gating signals are not affected by imaging planes. Magn Reson Med 77:1216-1222, 2017. © 2016 International Society for Magnetic Resonance in Medicine.

Cardiac positron emission tomography/magnetic resonance imaging (PET/MRI) acquisition presents novel clinical applications thanks to the combination of viability and metabolic imaging (PET) and functional and structural imaging (MRI). However, the resolution of PET, as well as cardiac and respiratory motion in nongated cardiac imaging acquisition protocols, leads to a reduction in image quality and severe quantitative bias. Respiratory or cardiac motion is customarily addressed with gated reconstruction which results in higher noise. Inspired by a method that has been used in brain PET, a practical correction approach, designed to overcome these existing limitations for quantitative PET imaging, was developed and applied in the context of cardiac PET/MRI. The correction approach for PET data consists of computing the mean density map of each underlying moving region, as obtained with MRI, and translating them to the PET space taking into account the PET spatial and temporal resolution. Using these tissue density maps, the method then constructs a system of linear equations that models the activity recovery and cross-contamination coefficients, which can be solved for the true activity values. Physical and numerical cardiac phantoms were employed in order to quantify the proposed correction. The full correction pipeline was then used to assess differences in metabolic function between scar and healthy myocardium in eight patients with recent acute myocardial infarction using [11 C]-acetate. Data from ten additional patients, injected with [18 F]-FDG, were used to compare the method to the standard electrocardiography (ECG)-gated approach. The proposed method resulted in better recovery (from 32% to 95% on the simulated phantom model) and less residual activity than the standard approach. Higher signal-to-noise and contrast-to-noise ratios than ECG-gating were also witnessed (Signal-to-noise ratio (SNR) increased from 2.92 to 5.24, contrast-to-noise ratio (CNR) increased from 62.9 to 145.9 when compared to a four-gate reconstruction). Finally, the relevance of this correction using [11 C]-acetate PET patient data, for which erroneous physiological conclusions could have been made based on the uncorrected data, was established as the correction led to the expected clinical results. An efficient and simple method to correct for the quantitative biases in PET measurements caused by cardiac motion has been developed. Validation experiments using phantom and patient data showed improved accuracy and reliability with this approach when compared to simpler strategies such as gated acquisition or optimal regions of interest (ROI).

Repeat accessory pathway ablation: Challenges, surprises, and lessons learned

Respiratory motion (RM) and cardiac motion (CM) degrade the quality and resolution in cardiac PET scans. We have developed non-rigid motion estimation methods to estimate both RM and CM based on 4D cardiac gated PET data alone, and compensate the dual respiratory and cardiac (R&C) motions after (MCAR), during (MCDR), and before (MCBR) image reconstruction. In all three R&C motion correction methods, attenuation-activity mismatch effect was modeled by using transformed attenuation maps using the estimated RM. The difference of using activity preserving and non-activity preserving models in R&C correction was also studied. Realistic Monte Carlo simulated 4D cardiac PET data using the 4D XCAT phantom and accurate models of the scanner design parameters and performance characteristics at different noise levels were employed as the known truth and for method development and evaluation. Results from the simulation study suggested that all three dual R&C motion correction methods provide substantial improvement in the quality of 4D cardiac gated PET images as compared with no motion correction. Specifically, the MCDR method yields the best performance for all different noise levels compared with the MCAR and MCBR methods. While MCBR reduces computational time dramatically but the resultant 4D cardiac gated PET images has overall inferior image quality when compared to that from the MCAR and MCDR approaches in the ‘almost’ noise free case. Also, the MCBR method has better noise handling properties when compared with MCAR and provides better quantitative results in high noise cases. When the goal is to reduce scan time or patient radiation dose, MCDR and MCBR provide a good compromise between image quality and computational times.

Background Electro-anatomical voltage mapping (EAM) is an invasive technique used for the identification of ventricular tachycardia (VT) substrate and subsequent guidance of VT ablation [1]. The mapping of VT substrate is very timeconsuming procedure, requires highly skilled electrophysiologist, is associated with patient risk and is an invasive procedure. Late gadolinium enhancement (LGE) MRI allows non-invasive evaluation of 3D structure of scar. Therefore, LGE has the potential to identify the VT substrate and can now be integrated in the current clinical platform for guidance of VT ablation as a roadmap. However, fusion of the two imaging modality is very challenging due to respiratory and cardiac motion during the mapping which results in large errors in data fusion. Our aim in this study is to develop a novel algorithm to detect the respiratory and cardiac-induced motion of the mapping catheter during the VT ablation to facilitate integration of LGE MRI to EAM data. Methods

Atrial fibrillation (AFib) has been identified as a major cause of stroke. Radiofrequency catheter ablation has become an increasingly important treatment option, especially when drug therapy fails. Navigation under X-ray can be enhanced by using augmented fluoroscopy. It renders overlay images from pre-operative 3-D data sets which are then fused with X-ray images to provide more details about the underlying soft-tissue anatomy. Unfortunately, these fluoroscopic overlay images are compromised by respiratory and cardiac motion. Various methods to deal with motion have been proposed. To meet clinical demands, they have to be fast. Methods providing a processing frame rate of 3 frames-per-second (fps) are considered suitable for interventional electrophysiology catheter procedures if an acquisition frame rate of 2 fps is used. Unfortunately, when working at a processing rate of 3 fps, the delay until the actual motion compensated image can be displayed is about 300 ms. More recent algorithms can achieve frame rates of up to 20 fps, which reduces the lag to 50 ms. By using a novel approach involving a 3-D catheter model, catheter segmentation and a distance transform, we can speed up motion compensation to 25 fps which results in a display delay of only 40 ms on a standard workstation for medical applications. Our method uses a constrained 2-D/3-D registration to perform catheter tracking, and it obtained a 2-D tracking error of 0.61 mm.

Gastrointestinal (GI) tract motility is one of the main sources for intra/inter-fraction variability and uncertainty in radiation therapy for abdominal targets. Models for GI motility can improve the assessment of delivered dose and contribute to the development, testing, and validation of deformable image registration (DIR) and dose-accumulation algorithms. To implement GI tract motion in the 4D extended cardiac-torso (XCAT) digital phantom of human anatomy. Motility modes that exhibit large amplitude changes in the diameter of the GI tract and may persist over timescales comparable to online adaptive planning and radiotherapy delivery were identified based on literature research. Search criteria included amplitude changes larger than planning risk volume expansions and durations of the order of tens of minutes. The following modes were identified: peristalsis, rhythmic segmentation, high amplitude propagating contractions (HAPCs), and tonic contractions. Peristalsis and rhythmic segmentations were modeled by traveling and standing sinusoidal waves. HAPCs and tonic contractions were modeled by traveling and stationary Gaussian waves. Wave dispersion in the temporal and spatial domain was implemented by linear, exponential, and inverse power law functions. Modeling functions were applied to the control points of the nonuniform rational B-spline surfaces defined in the reference XCAT library. GI motility was combined with the cardiac and respiratory motions available in the standard 4D-XCAT phantom. Default model parameters were estimated based on the analysis of cine MRI acquisitions in 10 patients treated in a 1.5T MR-linac. We demonstrate the ability to generate realistic 4D multimodal images that simulate GI motility combined with respiratory and cardiac motion. All modes of motility, except tonic contractions, were observed in the analysis of our cine MRI acquisitions. Peristalsis was the most common. Default parameters estimated from cine MRI were used as initial values for simulation experiments. It is shown that in patients undergoing stereotactic body radiotherapy for abdominal targets, the effects of GI motility can be comparable or larger than the effects of respiratory motion. The digital phantom provides realistic models to aid in medical imaging and radiation therapy research. The addition of GI motility will further contribute to the development, testing, and validation of DIR and dose accumulation algorithms for MR-guided radiotherapy.

Atrial fibrillation is the most common sustained heart arrhythmia and a leading cause of stroke. Its treatment by radio-frequency catheter ablation, performed using fluoroscopic image guidance, is gaining increasingly more importance. Two-dimensional fluoroscopic navigation can take advantage of overlay images derived from pre-operative 3-D data to add anatomical details otherwise not visible under X-ray. Unfortunately, respiratory motion may impair the utility of these static overlay images for catheter navigation. We developed an approach for image-based 3-D motion compensation as a solution to this problem. A bi-plane C-arm system is used to take X-ray images of a special circumferential mapping catheter from two directions. In the first step of the method, a 3-D model of the device is reconstructed. Three-dimensional respiratory motion at the site of ablation is then estimated by tracking the reconstructed catheter model in 3-D. This step involves bi-plane fluoroscopy and 2-D/3-D registration. Phantom data and clinical data were used to assess our model-based catheter tracking method. Experiments involving a moving heart phantom yielded an average 2-D tracking error of 1.4 mm and an average 3-D tracking error of 1.1 mm. Our evaluation of clinical data sets comprised 469 bi-plane fluoroscopy frames (938 monoplane fluoroscopy frames). We observed an average 2-D tracking error of 1.0 mm &plusmn; 0.4 mm and an average 3-D tracking error of 0.8 mm &plusmn; 0.5 mm. These results demonstrate that model-based motion-compensation based on 2-D/3-D registration is both feasible and accurate.

Subject motion including cardiac and respiration motion during data acquisition can cause degraded image reconstruction. Time-of-flight (TOF) in PET provides additional useful information, which can be utilized for motion estimation. We aim to develop accurate motion field estimation and motion compensation from TOF PET data fully utilizing TOF information for improved quantitative PET imaging. In this work, we develop a new motion displacement field estimation method using TOF PET histoimages. The TOF list-mode data can be efficiently deposited into a TOF histoimage, and radioactive tracer distribution can be efficiently reconstructed using the DIRECT (Direct Image REConstruction for TOF) approaches since TOF histoimage has the same spatial coordinates and geometry as the reconstructed image. First we derive the optical flow equation for TOF histoimage, from which we formulate the global energy function including the total squared error of data consistency based on the optical flow equation and a displacement regularizer. We then obtain Euler–Lagrange equation of TOF histoimage by minimizing the global energy function based on the principle of least action. Inspired by Horn–Schunck method, we obtain an iterative algorithm for motion displacement field estimation, and displacement smoothness regularization is naturally included. We simulate a generic 2D TOF PET scanner using XCAT phantom with cardiac motion, and show accurate motion displacement field can be obtained from both noise-free and noisy TOF histoimages using the proposed method. In summary, we present a motion displacement field estimation method directly using TOF histoimages, which can be important for motion compensation and improved dynamic image reconstructions.