Table Of ContentMedical Image
Registration
Biomedical Engineering
Series
Edited by Michael R. Neuman
Published Titles
Electromagnetic Analysis and Design in Magnetic Resonance
Imaging, Jianming Jin
Endogenous and Exogenous Regulation and
Control of Physiological Systems, Robert B. Northrop
Artificial Neural Networks in Cancer Diagnosis, Prognosis,
and Treatment, Raouf N.G. Naguib and Gajanan V. Sherbet
Medical Image Registration, Joseph V. Hajnal, Derek Hill, and
David J. Hawkes
Introduction to Dynamic Modeling of Neuro-Sensory Systems,
Robert B. Northrop
Forthcoming Titles
Noninvasive Instrumentation and Measurement in Medical
Diagnosis, Robert B. Northrop
Handbook of Neuroprosthetic Methods, Warren E. Finn
and Peter G. LoPresti
The BIOMEDICAL ENGINEERING Series
Series Editor Michael Neuman
Medical Image
Registration
Edited by
Joseph V. Hajnal
Derek L.G. Hill
David J. Hawkes
CRC Press
Boca Raton London New York Washington, D.C.
disclaimer Page 1 Wednesday, May 16, 2001 10:54 AM
Library of Congress Cataloging-in-Publication Data
Medical image registration / edited by Joseph Hajnal, David Hawkes, and Derek Hill.
p. cm.— (Biomedical engineering series)
Includes bibliographical references and index.
ISBN 0-8493-0064-9
1. Diagnostic imaging. I. Hajnal, Joseph. II. Hawkes, D.J. (David J.) III. Hill, Derek
(Derek L.G.) IV. Series.
RC78.7.D53 M436 2001
616.07′54—dc21 2001028031
CIP
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Editors
Joseph Hajnal is head of physics and engineering at the Robert Steiner Mag-
netic Resonance Unit, Hammersmith Hospital, Imperial College School of
Medicine and Medical Research Council Clinical Sciences Centre, as well as
leader of a research team funded by Marconi Medical Systems. He trained as a
physicist at Bristol University, England, and earned a Ph.D. in the physics of
electromagnetic waves before working in Australia at Melbourne University
and the Australian National University on interactions between atomic
beams and laser light. In 1990 Dr. Hajnal began research in medical imaging
with a special interest in magnetic resonance imaging. His current research
interests include magnetic resonance data acquisition and processing, image
registration, and data fusion, as well as novel scanner technology. He has
published more than 80 papers in peer-review journals and currently holds
six grants from a variety of funding organizations.
Derek Hill earned a B.Sc. in physics from Imperial College, London in 1987,
a M.Sc. in medical physics in 1989 and a Ph.D. in medical image registration
from the University of London in 1994. He is currently a senior lecturer in the
department of radiological sciences in the medical school of King’s College,
London. Dr. Hill’s research interests include rigid and nonrigid registration,
intraoperative brain deformation, interventional magnetic resonance imag-
ing, MR imaging, and the study of brain shape and connectivity. He has more
than 100 publications in these areas, of which over 30 are peer-review journal
articles. During the last five years, Dr. Hill has held five project grants as prin-
ciple investigator. He has worked extensively with industrial partners on col-
laborative research to develop imaging technology.
David Hawkes has 25 years experience in medical imaging in hospital and
academic environments. He founded the Computational Imaging Science
Group in 1989 at Guy’s Hospital and recently formed the Medical Imaging
Science Interdisciplinary Research Group at the newly merged Guy’s, King’s,
and St. Thomas’ School of Medicine, King’s College, London. Dr. Hawkes
trained as a physicist at Oxford. He earned a master’s degree in radiobiology
at Birmingham and a Ph.D. on parametrization of the x-ray attenuation coef-
ficient for dual energy computed tomography at Surrey. His current research
interests include image matching, data fusion, visualization, shape represen-
tation, surface geometry, and modeling tissue deformation, with applications
in image-guided interventions, augmented reality in surgery, 3D ultrasound,
0064_frame_Fm.fm Page 7 Wednesday, May 16, 2001 10:51 AM
and interventional magnetic resonance imaging. He has been on the scientific
committees of 30 international meetings and is on the editorial boards of five
journals. Dr. Hawkes is currently principal investigator of five U.K. Engineer-
ing and Physical Sciences Research Council (EPSRC) project grants and
manager of three industrially sponsored projects. He has more than 150 pub-
lications in the area of medical imaging.
0064_frame_Fm.fm Page 8 Wednesday, May 16, 2001 10:51 AM
Contributors
Dale L. Bailey Department of Nuclear Medicine, Guy’s, King’s, and
St. Thomas’ School of Medicine, Guy’s Hospital, London, U.K.
Phillipe Batchelor Department of Radiological Sciences, Guy’s, King’s, and
St. Thomas’ School of Medicine, Guy’s Hospital, London, U.K.
David Bell Physics Department, Royal Marsden NHS Trust, Sutton, Surrey,
U.K.
Graeme M. Bydder Robert Steiner MR Unit, MRC Clinical Sciences Centre,
Imperial College School of Medicine, Hammersmith Hospital, London,
U.K.
Matthew J. Clarkson Department of Radiological Sciences, Guy’s, King’s,
and St. Thomas’ School of Medicine, Guy’s Hospital, London, U.K.
D. Louis Collins McConnell Brain Imaging Center, Montreal Neurological
Institute, Montreal, Quebec, Canada
Philip J. Edwards Department of Radiological Sciences, Guy’s, King’s, and
St. Thomas’ School of Medicine, Guy’s Hospital, London, U.K.
Alan C. Evans McConnell Brain Imaging Center, Montreal Neurological
Institute, Montreal, Quebec, Canada
J. Michael Fitzpatrick Department of Electrical Engineering and Computer
Science, Vanderbilt University, Nashville, Tennessee, U.S.A.
Joseph V. Hajnal Robert Steiner MR Unit, MRC Clinical Sciences Centre,
Imperial College School of Medicine, Hammersmith Hospital, London,
U.K.
David J. Hawkes Department of Radiological Sciences, Guy’s, King’s, and
St. Thomas’ School of Medicine, Guy’s Hospital, London, U.K.
Derek L.G. Hill Department of Radiological Sciences, Guy’s, King’s, and
St. Thomas’ School of Medicine, Guy’s Hospital, London, U.K.
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Jozef Jarosz Neuroimaging, King’s Healthcare Trust, Denmark Hill, London,
U.K.
Mark Jenkinson Oxford Centre for Functional MRI of the Brain, Oxford
University, John Radcliffe Hospital, Oxford, U.K.
Louis Lemieux Research Group, Institute of Neurology, University Col-
lege, London, U.K.
Michael I. Miga Department of Biomedical Engineering, Vanderbilt University,
Nashville, Tennessee, U.S.A.
Angela Oatridge Robert Steiner MR Unit, MRC Clinical Sciences Centre,
Imperial College School of Medicine, Hammersmith Hospital, London,
U.K.
Keith D. Paulsen Thayer School of Engineering, Dartmouth College, Hanover,
New Hampshire, U.S.A.
Tomás˘ Paus McConnell Brain Imaging Center, Montreal Neurological
Institute, Montreal, Quebec, Canada
Graeme P. Penney Department of Radiological Sciences, Guy’s, King’s, and
St. Thomas’ School of Medicine, Guy’s Hospital, London, U.K.
Uwe Pietrzyk Forschungszentrum Jülich GmbH, Institut für Medizin,
Jülich, Germany
Daniel Rueckert Department of Computing, Imperial College of Science,
Technology, and Medicine, London, U.K.
Stephen M. Smith Oxford Centre for Functional MRI of the Brain, Oxford
University, John Radcliffe Hospital, Oxford, U.K.
Alex P. Zijdenbos McConnell Brain Imaging Center, Montreal Neurologi-
cal Institute, Montreal, Quebec, Canada
0064_frame_Fm.fm Page 10 Wednesday, May 16, 2001 10:51 AM
Contents
1. Introduction.....................................................................................1
Joseph V. Hajnal, Derek L.G. Hill, David J. Hawkes
Section I Methodology
2. Registration Methodology: Introduction....................................11
David J. Hawkes
3. Registration Methodology: Concepts and Algorithms..............39
Derek L.G. Hill and Philipe Batchelor
4. Preparation and Display of Image Data......................................71
Joseph V. Hajnal
5. Correcting for Scanner Errors in CT, MRI, SPECT,
and 3D Ultrasound........................................................................87
Louis Lemieux, Dale L. Bailey, and David Bell
6. Detecting Failure, Assessing Success........................................117
J. Michael Fitzpatrick
Section II Applications of Rigid Body Registration
7. Registration and Subtraction of Serial Magnetic Resonance
Images of the Brain: Image Interpretation and
Clinical Applications..................................................................143
Angela Oatridge, Joseph V. Hajnal, and Graeme M. Bydder
8. The Role of Registration in Functional Magnetic
Resonance Imaging .....................................................................183
Mark Jenkinson and Stephen Smith
9. Registration of MRI and PET Images
for Clinical Applications............................................................199
Uwe Pietrzyk
