Table Of ContentHandbook of Biomedical
Image Analysis
TOPICS IN BIOMEDICAL ENGINEERING
INTERNATIONAL BOOK SERIES
Series Editor: Evangelia Micheli-Tzanakou
Rutgers University
Piscataway, New Jersey
Signals and Systems in Biomedical Engineering:
Signal Processing and Physiological Systems Modeling
Suresh R. Devasahayam
Models of the Visual System
Edited by George K. Hung and Kenneth J. Ciuffreda
PDE and Level Sets: Algorithmic Approaches to Static and Motion Imagery
Edited by Jasjit S. Suri and Swamy Laxminarayan
Frontiers in Biomedical Engineering:
Proceedings of the World Congress for Chinese Biomedical Engineers
Edited by Ned H.C. Hwang and Savio L-Y. Woo
Handbook of Biomedical Image Analysis:
Volume I: Segmentation Models Part A
Edited by Jasjit S. Suri, David L. Wilson, and Swamy Laxminarayan
Handbook of Biomedical Image Analysis:
Volume II: Segmentation Models Part B
Edited by Jasjit S. Suri, David L. Wilson, and Swamy Laxminarayan
Handbook of Biomedical Image Analysis:
Volume III: Registration Models
Edited by Jasjit S. Suri, David L. Wilson, and Swamy Laxminarayan
A Continuation Order Plan is available for this series. A continuation order will bring delivery of each new volume
immediately upon publication. Volumes are billed only upon actual shipment. For further information please contact
the publisher.
Handbook of Biomedical
Image Analysis
Volume III: Registration Models
Edited by
Jasjit S. Suri
Department of Biomedical Engineering
Case Western Reserve University
Cleveland, Ohio
David L. Wilson
Department of Biomedical Engineering
Case Western Reserve University
Cleveland, Ohio
and
Swamy Laxminarayan
Institute of Rural Health
Idaho State University
Pocatello, Idaho
Kluwer Academic/Plenum Publishers
New York, Boston, Dordrecht, London, Moscow
ISBN 0-306-48607-5
eISBN 0-306-48608-3
set ISBN: 0-387-23126-9
(cid:1)2005 Kluwer Academic/Plenum Publishers, New York
233 Spring Street, New York, New York 10013
http://www.wkap.nl/
10 9 8 7 6 5 4 3 2 1
A C.I.P. record for this book is available from the Library of Congress
All rights reserved
No part of this book may be reproduced, stored in a retrieval system, or transmitted in any form or by any
means, electronic, mechanical, photocopying, microfilming, recording, or otherwise, without written permission
from the Publisher, with the exception of any material supplied specifically for the purpose of being entered and
executed on a computer system, for exclusive use by the purchaser of the work.
Permissions for books published in Europe: [email protected]
Permissions for books published in the United States of America: [email protected]
Printed in the United States of America
JasjitSuridedicatesthishandbookto
hisyoungestuncleParamjeetChadhaandhisimmediatefamily:
hislatesisterSharan,hislatebrotherAmarjeet,andhis
lateparentsKulwantKaurandUdamS.Chadha
(FellowofRoyalInstituteofLondon).
DavidWilsondedicatesthishandbooktohis
familyandstudents.
SwamyLaxminarayandedicates
thisbookinmemoryofhisbelovedparentswhowerea
constantsourceofinspirationinhislifeandtohisin-laws
CorieandDerkZwakmanfortheirgenuinesense
offamilyattachmentsandfriendship.
Contributors
JasjitS.Suri,Ph.D. SamehM.Yamany,Ph.D.
CaseWesternReserveUniversity, UniversityofLouisville,Louisville,
Cleveland,OH,USA KY,USA
DavidL.Wilson,Ph.D. JeremyNett,M.S.
CaseWesternReserveUniversity, UniversityofLouisville,Louisville,
Cleveland,OH,USA KY,USA
BaoweiFei,Ph.D ThomasMoriarty,M.D.,Ph.D.
CaseWesternReserveUniversity, UniversityofLouisville,Louisville,
Cleveland,OH,USA KY,USA
SwamyLaxminarayan,DSc. StephenHushek,Ph.D.
StateUniversityofIdaho,Pocatello, UniversityofLouisville,Louisville,
ID,USA KY,USA
AndrewLaine,Ph.D. RobertFalk,M.D.
ColumbiaUniversity,NewYork, UniversityofLouisville,Louisville,
NY,USA KY,USA
ElsaAngelini,Ph.D. A.ArdeshirGoshtasby,Ph.D.
ColumbiaUniversity,NewYork, WrightStateUniversity,Dayton,
NY,USA OH,USA
YinpengJin,Ph.D. PierreHellier,Ph.D.
ColumbiaUniversity,NewYork, IRISA-INRIA,Cedex,France
NY,USA
MichaelUnser,Ph.D.
AlyA.Farag,Ph.D. SwissFederalInstituteof
UniversityofLouisville,Louisville, Technology,Lausanne
KY,USA Lausanne,Switzerland
vii
viii Contributors
JanKybic,Ph.D. RandolfMenzel,Ph.D.
CzechTechnicalUniversity,Prague, FreieUniversita¨tBerlin,Berlin,
CzechRepublic Germany
JeffWeiss,Ph.D. DanielB.Russakoff,M.Sc.
UniversityofUtah,Utah,UT,USA StanfordUniversity,Stanford,CA,USA
NikhilPhatak,Ph.D.
CalvinR.Maurer,Jr.,Ph.D.
UniversityofUtah,Utah,UT,USA
StanfordUniversity,Stanford,CA,USA
AlexVeress,Ph.D.
GaryEChristensen,DSc.
UniversityofUtah,Utah,UT,USA
TheUniversityofIowa,Iowa,USA
Xiao-HongZhu,M.S.
UniversityName,City,State,USA JundongLiu,Ph.D.
OhioUniversity,Athens,OH
YangMingZhu,Ph.D.
PhilipsMedicalSystems,Cleveland, Chi-HsiangLo,Ph.D.
OH,USA NationalIlanUniversity,Ilan,Taiwan
StevenM.Cochoff,M.S.
YujunGuo,M.S.
PhilipsMedicalSystems,Cleveland,
KentStateUniversity,Kent,OH,USA
OH,USA
Cheng-ChangLu,Ph.D.
TorstenRohlfing,Ph.D.
KentStateUniversity,Kent,OH,USA
StanfordUniversity,Stanford,CA,USA
RobertBrandt,Ph.D. Chi-HuaTung,Ph.D.
VisualConceptsGmbH,Berlin, PhilipsMedicalSystems,Cleveland,
Germany USA
Acknowledgments
Thisbookistheresultofcollectiveendeavorsfromseveralnotedengineering
andcomputerscientists,mathematicans,medicaldoctors,physicists,andradi-
ologists.Theeditorsareindebtedtoalloftheireffortsandoutstandingscientific
contributions. The editors are particularly grateful to Drs. Petia Reveda, Alex
Falco,AndrewLaine,DavidBreen,DavidChopp,C.C.Lu,GaryE.Christensen,
Dirk Vandermeulen, Aly A Farag, Alejandro Frangi, Gilson Antonio Giraldi,
Gabor Szekely, Pierre Hellier, Gabor Herman, Ardeshir Goshtasby, Jan Kybic,
JeffWeiss,Jean-ClaudeKlein,MajidMirmehdi,MariaKallergi,Yang-mingZhu,
SunandaMitra,SameerSingh,AlessandroSarti,XiopingShen,CalvinR.Maurer,
Jr., Yoshinobu Sato, Koon-Pong Wong, Avdhesh Sharma, Rakesh Sharma, and
ChunYuanandtheirteammembersforworkingwithussocloselyinmeeting
all of the deadlines of the book. We would like to express our appreciation to
KluwerPublishersforhelpingcreatethisinvitationalhandbook.Weareparticu-
larlythankfultoAaronJohnson,theacquisitioneditor,andShoshanaSternlicht
fortheirexcellentcoordinationofthebookateverystage.
Dr. Suri thanks Philips Medical Systems, Inc., for the MR datasets and en-
couragementsduringhisexperimentsandresearch.Specialthanksaredueto
Dr.LarryKasuboskiandDr.ElaineKeelerfromPhilipsMedicalSystems,Inc.,for
theirsupportandmotivations.ThanksarealsoduetomypastPh.D.committee
researchprofessors,particularlyProfessorsLindaShapiro,RobertM.Haralick,
DeanLytle,andArunSomani,fortheirencouragements.
We extend our appreciations to Drs. Ajit Singh, Siemens Medical Sys-
tems, George Thoma, Chief Imaging Science Division from National Institutes
of Health, Dr. Sameer Singh, University of Exeter, UK for his motivations.
ix
x Acknowledgments
Special thanks go to the Book Series Editor, Professor Evangelia Micheli-
Tzanakou,foradvisingusonallaspectsofthebook.
WethanktheIEEEPress,AcademicPress,SpringerVerlagPublishers,and
severalmedicalandengineeringjournalsforopermittingustousesomeofthe
imagespreviouslypublishedinthesejournals.
Finally,JasjitSurithankshiswifeMalvikaSuriforalltheloveandsupport
she has showered over the years and to our baby Harman whose presence is
always a constant source of pride and joy. I also express my gratitude to my
father, a mathematician, who inspired me throughout my life and career, and
tomylatemother,whomostunfortunatelypassedawayafewdaysbeforemy
Ph.D. graduation, and who so much wanted to see me write this book. I love
you,Mom.SpecialthankstoPomChadhaandhisfamily,whotaughtmelifeis
notjustbooks.Heismyofmybestfriends.Iwouldliketoalsothankmyin-laws
whohaveaspecialplaceformeintheirheartsandhaveshownlotsofloveand
careforme.
David Wilson acknowledges the support of the Department of Biomedical
Engineering,CaseWesternReserveUniversity,inthisendeavor.Specialthanks
areduetothemanycolleaguesandstudentswhomakeresearchinbiomedical
engineeringanexciting,wondrousendeavor.
Swamy Laxminarayan expresses his loving acknowledgements to his wife
Marijke and to his kids, Malini and Vinod, for always giving the strength of
mindamidstalllifefrustrations.Thebookkindlesfondestmemoriesofmylate
parentswhomademanypersonalsacrificesthathelpedshapeourcareersand
thesupportofmyfamilymemberswhowerealwaysthereformewhenIneeded
themmost.Ihavesharedmanyideasandthoughtsonthebookwithnumerous
ofmyfriendsandcolleaguesinthediscipline.Iacknowledgetheirfriendship,
feedbacks,anddiscussionswithparticularthankstoProf.DavidKristolofthe
New Jersey Institute of Technology, Peter Brett of Ashton University, Ewart
CarsonoftheCityUniversity,London,LauraRoaoftheUniversityofSevillain
Spain,andJeanLouisCoatrieuxoftheUniversityofRennesinFrance,fortheir
constantsupportoverthepasttwodecades.
