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Applied Medical Image Processing: A Basic Course, Second Edition
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Applied Medical Image Processing: A Basic Course, Second Edition
by Wolfgang Birkfellner
Applied Medical Image Processing, 2nd Edition
Preliminaries
Dedication
Foreword
Preface to the First Edition
Preface to the Second Edition
User Guide
Literature
Acknowledgments
Chapter 1 A Few Basics of Medical Image Sources
1.1 Radiology
1.2 The Electromagnetic Spectrum
1.3 Basic X-Ray Physics
1.3.1 The x-ray tube
1.3.2 X-ray detectors
1.4 Attenuation and Imaging
1.5 Computed Tomography
1.5.1 Basics of CT and scanner generations
1.5.2 Imaging geometries and CT technologies
1.5.3 Image artifacts in CT
1.5.4 Safety aspects
1.6 Magnetic Resonance Tomography
1.6.1 Basic MRI physics
1.6.1.1 Relaxation processes
1.6.1.2 Spin-echo
1.6.2 Tissue contrast
1.6.3 Spatial localization
1.6.3.1 Slice selection
1.6.3.2 Frequency encoding
1.6.3.3 Phase encoding
1.6.4 Image artifacts in MR
1.6.5 The elements of an MR system
1.6.5.1 The main static magnetic field
1.6.5.2 Gradient fields
1.6.5.3 The RF system
1.6.6 Safety aspects
1.7 Ultrasound
1.7.1 Some physical properties of sound
1.7.2 Basic principles
1.7.3 Image artifacts in B-Mode US imaging
1.7.4 Doppler effect
1.7.5 3D imaging
1.7.6 Safety aspects
1.8 Nuclear Medicine and Molecular Imaging
1.8.1 Scintigraphy
1.8.2 The γ camera
1.8.3 SPECT and PET
1.9 Other Imaging Techniques
1.10 Radiation Protection and Dosimetry
1.10.1 Terminology of dosimetry
1.10.2 Radiation effects on tissue and organs
1.10.3 Natural and man-made radiation exposure
1.11 Summary and Further References
Literature
Figure 1.1
Figure 1.1
Figure 1.2
Figure 1.3
Figure 1.4
Figure 1.5
Figure 1.6
Figure 1.7
Figure 1.8
Figure 1.9
Figure 1.10
Figure 1.11
Figure 1.12
Figure 1.13
Figure 1.14
Figure 1.15
Figure 1.16
Figure 1.17
Figure 1.18
Figure 1.19
Figure 1.20
Figure 1.21
Figure 1.22
Figure 1.23
Figure 1.24
Figure 1.25
Figure 1.26
Figure 1.27
Figure 1.28
Table 1.1
Table 1.1
Table 1.2
Table 1.3
Table 1.4
Table 1.5
Chapter 2 Image Processing in Clinical Practice
2.1 Application Examples
2.2 Image Databases
2.3 Intensity Operations
2.4 Filter Operations
2.5 Segmentation
2.6 Spatial Transforms
2.7 Rendering and Surface Models
2.8 Registration
2.9 CT Reconstruction
2.10 Summary
Figure 2.1
Figure 2.1
Figure 2.2
Figure 2.3
Figure 2.4
Figure 2.5
Figure 2.6
Figure 2.7
Figure 2.8
Figure 2.9
Figure 2.10
Figure 2.11
Figure 2.12
Figure 2.13
Chapter 3 Image Representation
3.1 Pixels and Voxels
3.1.1 Algebraic image operations
3.2 Gray Scale and Color Representation
3.2.1 Depth
3.2.2 Color and look up tables
3.3 Image File Formats
3.4 Dicom
3.5 Other Formats – Analyze 7.5, Nifti and Interfile
3.6 Image Quality and the Signal-to-Noise Ratio
3.7 Practical Lessons
3.7.1 Image subtraction
3.7.2 Opening and decoding a single DICOM file in MATLAB
3.7.3 Opening a DICOM file using ImageJ and 3DSlicer
3.7.3.1 A single slice in ImageJ
3.7.3.2 A CT-volume in 3DSlicer
3.7.4 Converting a color image to gray scale
3.7.4.1 A note on good MATLAB programming habits
3.7.5 Computing the SNR of x-ray images as a function of dose
3.8 Summary and Further References
Literature
Figure 3.1
Figure 3.1
Figure 3.2
Figure 3.3
Figure 3.4
Figure 3.5
Figure 3.6
Figure 3.7
Figure 3.8
Figure 3.9
Figure 3.10
Figure 3.11
Figure 3.12
Figure 3.13
Figure 3.14
Figure 3.15
Figure 3.16
Figure 3.17
Figure 3.18
Figure 3.19
Figure 3.20
Figure 3.21
Figure 3.22
Figure 3.23
Chapter 4 Operations in Intensity Space
4.1 The Intensity Transform Function and The Dynamic Range
4.2 Windowing
4.3 Histograms and Histogram Operations
4.4 Dithering and Depth
4.5 Practical Lessons
4.5.1 Linear adjustment of image depth range
4.5.1.1 A note on good MATLAB® programming habits
4.5.2 Composing a color image from grayscale images
4.5.3 Improving visibility of low-contrast detail – taking the logarithm
4.5.4 Modelling a general nonlinear transfer function – the Sigmoid
4.5.5 Histograms and histogram operations
4.5.6 Automatic optimization of image contrast using the histogram
4.5.7 Intensity operations using ImageJ and 3DSlicer
4.6 Summary and Further References
Literature
Figure 4.1
Figure 4.1
Figure 4.2
Figure 4.3
Figure 4.4
Figure 4.5
Figure 4.6
Figure 4.7
Figure 4.8
Figure 4.9
Figure 4.10
Figure 4.11
Figure 4.12
Figure 4.13
Figure 4.14
Figure 4.15
Figure 4.16
Figure 4.17
Figure 4.18
Figure 4.19
Figure 4.20
Figure 4.21
Figure 4.22
Table 4.1
Table 4.1
Chapter 5 Filtering and Transformations
5.1 The Filtering Operation
5.1.1 Kernel based smoothing and sharpening operations
5.1.2 Differentiation and edge detection
5.1.3 Helpful non-linear filters
5.2 The Fourier Transform
5.2.1 Basic linear algebra and series expansions
5.2.2 Waves - a special orthonormal system
5.2.3 Some important properties of the Fourier transform
5.2.4 Image processing in the frequency domain
5.2.5 Modelling properties of imaging systems - the PSF and the MTF
5.3 Other Transforms
5.3.1 The Hough transform
5.3.2 The distance transform
5.4 Practical Lessons
5.4.1 Kernel – based low pass and high pass filtering
5.4.2 Basic filtering operations in ImageJ
5.4.3 Numerical differentiation
5.4.3.1 A note on good MATLAB® programming habits
5.4.4 Unsharp masking
5.4.5 The median filter
5.4.6 Some properties of the Fourier-transform
5.4.6.1 Spectra of simple functions in k-space
5.4.6.2 More complex functions
5.4.6.3 Convolution of simple functions
5.4.6.4 Differentiation in k-space
5.4.7 Frequency filtering in Fourier-space on images
5.4.8 Applied convolution – PSF and the MTF
5.4.9 Determination of system resolution of an Anger-camera using a point source
5.4.10 The Hough transform
5.4.11 The distance transform
5.5 Summary and Further References
Literature
Figure 5.1
Figure 5.1
Figure 5.2
Figure 5.3
Figure 5.4
Figure 5.5
Figure 5.6
Figure 5.7
Figure 5.8
Figure 5.9
Figure 5.10
Figure 5.11
Figure 5.12
Figure 5.13
Figure 5.14
Figure 5.15
Figure 5.16
Figure 5.17
Figure 5.18
Figure 5.19
Figure 5.20
Figure 5.21
Figure 5.22
Figure 5.23
Figure 5.24
Figure 5.25
Figure 5.26
Figure 5.27
Figure 5.28
Figure 5.29
Figure 5.30
Figure 5.31
Figure 5.32
Figure 5.33
Figure 5.34
Figure 5.35
Figure 5.36
Figure 5.37
Figure 5.38
Figure 5.39
Figure 5.40
Figure 5.41
Figure 5.42
Figure 5.43
Figure 5.44
Figure 5.45
Figure 5.46
Figure 5.47
Figure 5.48
Figure 5.49
Chapter 6 Segmentation
6.1 The Segmentation Problem
6.2 ROI Definition and Centroids
6.3 Thresholding
6.4 Region Growing
6.5 More Sophisticated Segmentation Methods
6.5.1 ITK SNAP – a powerful implementation of a segmentation algorithm at work
6.6 Morphological Operations
6.7 Evaluation of Segmentation Results
6.8 Practical Lessons
6.8.1 Count rate evaluation by ROI selection
6.8.2 Region definition by global thresholding
6.8.3 Region growing
6.8.4 Region growing in 3D
6.8.5 A very simple snake-type example
6.8.6 Erosion and dilation
6.8.7 Hausdorff-distances and Dice-coefficients
6.8.8 Improving segmentation results by filtering
6.8.8.1 Better thresholding
6.8.8.2 Preprocessing and active contours
6.9 Summary and Further References
Literature
Figure 6.1
Figure 6.1
Figure 6.2
Figure 6.3
Figure 6.4
Figure 6.5
Figure 6.6
Figure 6.7
Figure 6.8
Figure 6.9
Figure 6.10
Figure 6.11
Figure 6.12
Figure 6.13
Figure 6.14
Figure 6.15
Figure 6.16
Figure 6.17
Figure 6.18
Figure 6.19
Figure 6.20
Figure 6.21
Figure 6.22
Figure 6.23
Figure 6.24
Figure 6.25
Figure 6.26
Figure 6.27
Figure 6.28
Figure 6.29
Figure 6.30
Chapter 7 Spatial Transforms
7.1 Discretization – Resolution and Artifacts
7.2 Interpolation and Volume Regularization
7.3 Translation and Rotation
7.3.1 Rotation in 2D - some properties of the rotation matrix
7.3.2 Rotation and translation in 3D
7.3.3 A special case - the principal axis transform
7.3.4 The quaternion representation of rotations
7.4 Reformatting
7.5 Tracking and Image-Guided Therapy
7.6 Practical Lessons
7.6.1 Spatial image transforms in 2D
7.6.2 Two simple interpolation examples
7.6.3 A special case – the PCA on binary images
7.6.4 A geometric reformatting example – conic sections
7.6.5 A reformatting example on a small volume data set
7.6.6 Convolution revisited
7.7 Summary and Further References
Literature
Figure 7.1
Figure 7.1
Figure 7.2
Figure 7.3
Figure 7.4
Figure 7.5
Figure 7.6
Figure 7.7
Figure 7.8
Figure 7.9
Figure 7.10
Figure 7.11
Figure 7.12
Figure 7.13
Figure 7.14
Figure 7.15
Figure 7.16
Figure 7.17
Figure 7.18
Figure 7.19
Figure 7.20
Figure 7.21
Chapter 8 Rendering and Surface Models
8.1 Visualization
8.2 Orthogonal and Perspective Projection, And the Viewpoint
8.3 Raycasting
8.3.1 MIP, DRRs and volume rendering
8.3.2 Other rendering techniques
8.4 Surface-Based Rendering
8.4.1 Surface extraction, file formats for surfaces, shading and textures
8.4.2 Shading models
8.4.3 A special application – virtual endoscopy
8.5 Practical Lessons
8.5.1 A perspective example
8.5.2 Simple orthogonal raycasting
8.5.3 Viewpoint transforms and splat rendering
8.5.4 Volume rendering using color coding
8.5.5 A simple surface rendering - depth shading
8.5.6 Rendering of voxel surfaces
8.5.7 A rendering example using 3DSlicer
8.5.8 Extracting a surface using the cuberille algorithm
8.5.9 A demonstration of shading effects
8.6 Summary and Further References
Literature
Figure 8.1
Figure 8.1
Figure 8.2
Figure 8.3
Figure 8.4
Figure 8.5
Figure 8.6
Figure 8.7
Figure 8.8
Figure 8.9
Figure 8.10
Figure 8.11
Figure 8.12
Figure 8.13
Figure 8.14
Figure 8.15
Figure 8.16
Figure 8.17
Figure 8.18
Figure 8.19
Figure 8.20
Figure 8.21
Figure 8.22
Figure 8.23
Figure 8.24
Figure 8.25
Figure 8.26
Figure 8.27
Figure 8.28
Figure 8.29
Figure 8.30
Figure 8.31
Figure 8.32
Figure 8.33
Figure 8.34
Figure 8.35
Chapter 9 Registration
9.1 Fusing Information
9.2 Registration Paradigms
9.2.1 Intra- and intermodal registration
9.2.2 Rigid and non-rigid registration
9.3 Merit Functions
9.4 Optimization Strategies
9.5 Some General Comments
9.6 Camera Calibration
9.7 Registration to Physical Space
9.7.1 Rigid registration using fiducial markers and surfaces
9.7.2 2D/3D registration
9.8 Evaluation of Registration Results
9.9 Practical Lessons
9.9.1 Registration of 2D images using cross-correlation
9.9.2 Computing joint histograms
9.9.3 Plotting the mutual information merit function
9.9.4 Chamfer matching
9.9.5 Optimization
9.9.6 The direct linear transform
9.9.7 Marker based registration
9.10 Summary and Further References
Literature
Figure 9.1
Figure 9.1
Figure 9.2
Figure 9.3
Figure 9.4
Figure 9.5
Figure 9.6
Figure 9.7
Figure 9.8
Figure 9.9
Figure 9.10
Figure 9.11
Figure 9.12
Figure 9.13
Figure 9.14
Figure 9.15
Figure 9.16
Figure 9.17
Figure 9.18
Figure 9.19
Figure 9.20
Figure 9.21
Figure 9.22
Figure 9.23
Figure 9.24
Figure 9.25
Figure 9.26
Figure 9.27
Table 9.1
Table 9.1
Table 9.2
Chapter 10 CT Reconstruction
10.1 Introduction
10.2 Radon Transform
10.2.1 Attenuation
10.2.2 Definition of the Radon transform in the plane
10.2.3 Basic properties and examples
10.2.4 MATLAB® implementation
10.3 Algebraic Reconstruction
10.3.1 A system of linear equations
10.3.2 Computing the system matrix with MATLAB
10.3.3 How to solve the system of equations
10.4 Some Remarks on Fourier Transform and Filtering
10.5 Filtered Backprojection
10.5.1 Projection slice theorem
10.5.2 Filtered backprojection algorithm
10.6 Practical Lessons
10.6.1 Simple backprojection
10.6.2 Noise
10.6.3 Ring artifacts
10.6.4 Streak artifacts
10.6.5 Backprojection revisited – cone beam CT reconstruction
10.7 Summary and Further References
Literature
Figure 10.1
Figure 10.1
Figure 10.2
Figure 10.3
Figure 10.4
Figure 10.5
Figure 10.6
Figure 10.7
Figure 10.8
Figure 10.9
Figure 10.10
Figure 10.11
Figure 10.12
Figure 10.13
Figure 10.14
Figure 10.15
Figure 10.16
Figure 10.17
Figure 10.18
Figure 10.19
Figure 10.20
Figure 10.21
Figure 10.22
Figure 10.23
Figure 10.24
Figure 10.25
Figure 10.26
Figure 10.27
Chapter 11 A Tutorial on Image-Guided Therapy
11.1 A Hands-on Approach to Camera Calibration and Image-Guided Therapy
11.2 Transformations
11.2.1 Central projection
11.2.2 Homography
11.3 Camera Calibration
11.3.1 Pinhole camera model
11.3.2 Camera calibration with 3D object
11.3.3 Camera calibration with 2D object
11.4 Image-Guided Therapy, Introduction
11.5 Image-Guided Therapy, Navigation System
11.5.1 Setup and calibration
11.5.2 Procedure planning
11.5.3 Navigation
11.6 Image-Guided Therapy, Theory in Practice
11.6.1 Camera calibration
11.6.2 Tracking accuracy
11.6.3 Human computer interaction
11.6.4 Dynamic reference frame
11.6.5 Paired-Point rigid registration
11.6.6 Iterative-closest point
11.7 Summary and Further References
Literature
Figure 11.1
Figure 11.1
Figure 11.2
Figure 11.3
Figure 11.4
Figure 11.5
Figure 11.6
Figure 11.7
Figure 11.8
Figure 11.9
Figure 11.10
Figure 11.11
Figure 11.12
Figure 11.13
Figure 11.14
Figure 11.15
Figure 11.16
Figure 11.17
Table 11.1
Table 11.1
Chapter 12 A Selection of MATLAB® Commands
12.1 Control Structures and Operators
12.2 I/O and Data Structures
12.3 Mathematical Functions
12.4 Further References
Glossary
MATLAB sample scripts
Epilogue
Figure A.1
Figure A.1
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