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Volumetric Rendering for Holographic Display of Medical Data by Wendy J

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Volumetric Rendering for Holographic Display of Medical Data by Wendy J Volumetric Rendering for Holographic Display of Medical Data by Wendy J. Plesniak Bachelor of Fine Arts Carnegie-Mellon University 1984 Bachelor of Science in Electrical Engineering Carnegie-Mellon University 1986 Submitted to the Media Arts and Sciences Section in Partial Fulfillment of the Requirements for the Degree of Master of Science at the Massachusetts Institute of Technology September 1988 @Massachusetts Institute of Technology 1988 All Rights Reserved Signature of the Author Wendy J. Plesniak Me ia Arts and Sciences Section ~ / t5, 198 8 Certified by , - -34 v Stephen A. Benton Prof ssor of Media Technology Supe isor Accepted by 4 v - -4 My- VV vZE 1 V (Stephen A. Benton Chairman Departmental Committee on Graduate Students MASSAGHUSEiTS INSTITUTE OF TFMNNILOGY NOV 0 3 1988 LIBRARIES - . - I -- - I 46109sWu Room 14-0551 77 Massachusetts Avenue Cambridge, MA 02139 Ph: 617.253.2800 MIT Libraries Email: [email protected] Document Services http://libraries.mit.edu/docs DISCLAIMER OF QUALITY Due to the condition of the original material, there are unavoidable flaws in this reproduction. We have made every effort possible to provide you with the best copy available. If you are dissatisfied with this product and find it unusable, please contact Document Services as soon as possible. Thank you. Volumetric Rendering for Holographic Display of Medical Data by Wendy J. Plesniak Submitted to the Media Arts and Sciences Section in Partial Fulfillment of the Requirements for the Degree of Master of Science at the Massachusetts Institute of Technology September 1988 Abstract Two factors are fostering the development of three-dimensional (3D) dis- play of medical data. First, the continuing improvement of imaging equipment for medical scanning provides data with higher spatial resolution and increasing signal to noise ratio. Such data lend themselves well to image enhancement and computer-graphic 3D reconstruction algorithms. Secondly, as display tech- nologies improve, different methods are becoming available for displaying these three-dimensional medical data for more complete understanding. Various meth- ods of 3D display are available, such as the varifocal mirror, head-tracked display workstations, and holographic stereograms. By combining recently-developed volumetric rendering techniques which pro- vide an excellent visualization of the scan data, and holographic stereogram technology, it was hypothesized that the spatial images generated would allow rapid and accurate comprehension of complex volumetric data. In this work, an exploration of holographic display of computer-graphically reconstructed medical data is documented. The implementation of a volumetric rendering algorithm which generates computer graphic images, and the method of recording these images holographically is also documented. Thesis Supervisor: Stephen A. Benton Title: Professor of Media Technology Contents 1 Chapter 1: Introduction 2 Chapter 2: Background 12 2.1 Conventional 2D Display of Medical Data . .. 13 2.1.1 Black and White Display Issues . ... 13 2.1.2 Color Display Issues ......... ... 15 2.2 Methods of 3D Editing and Reconstruction of Medical Data . .. 17 2.2.1 Geometric Rendering Approach . .. 18 2.2.2 Luminous Voxel Method ....... 21 2.2.3 Volume Rendering .......... 22 2.3 2D Display Shortcomings ..... ..... 23 2.4 Role of Three-Dimensional Display in Medical Imaging 23 2.4.1 Cues to Depth ............ ... 23 2.4.2 Slice Stacking ............ .. 25 2.4.3 Holographic Display of Medical Data . 25 3 Cha pter 3: Volume Rendering Analysis 3.1 Medical Data Acquisition . .. 3.2 Gradients as Surface Normals . 3.3 Grayscale to Opacity Mapping . 3.4 Opacity Calculations ....... 3.5 Color Calculations ........ 4 Chapter 4: Design of Volume Renderer 4.1 Overview of the Rendering Process ..... .. 4.2 Ray Tracing ....... ....... ..... 4.3 Rendering for Holographic Display ...... .. 5 Chapter 5: Holographic Display of Component Images 5.1 Mastering ... .... ... .... .... .. 5.2 Transferring ....... ....... ......... 5.3 Reconstruction . ......... 6 Chapter 6: Results 6.1 Orthopedic CT ... .. 6.2 Cardiac MRI ... ... 6.2.1 Opaque Heart . 6.2.2 Transparent Heart 6.3 Image Quality .. ... 7 Chapter 7: Conclusions and Future Work 8 References 9 Bibliography List of Figures 3.1 Average CT and MRI specs, courtesy General Electric Inc. 31 3.2 Gray-level gradients as surface normals. .......... 3.3 Idealized histogram plot of CT volume. .......... 3.4 Histogram plot of MRI volume. .............. 4.1 Array of slices comprising a volume. ..... .... .. 45 4.2 Data preprocessing step. .... ..... ..... .... 47 4.3 Voxel gray-level gradient calculations. ........ ... ... 48 4.4 Voxel opacity calculations. ..... ........ .... 49 4.5 Rendering Pipeline. ............ ..... .. .. .. 50 4.6 Ray tracing through the volume.. .......... .. .... 55 4.7 Bilinear interpolation of color and opacity values. .. ...... 56 4.8 Renderer interface to holographic printer geometry. .... 59 4.9 Shearing with recentering. ... ........... ...... 60 5.1 Stereogram master printer geometry. ... ......... 5.2 Locations of red, green and blue separations on H1..... 5.3 Holographic transfer printer geometry .. .. 5.4 Reconstruction of the hologram. ... ......... ... 6.1 CT head scan data set. ..... ......... ..... 72 6.2 Histogram plot of CT head data set. ..... ...... 73 6.3 Computer graphically reconstructed images of child's skull. 76 6.4 Hologram of child's skull. .. ..... .... .... ... 77 6.5 Histogram plot of MRI heart data set .. ...... .. .. 78 6.6 Computer graphically reconstructed images of opaque heart. .. 81 6.7 Hologram of long-axis section of a beef heart. .. ........ 83 6.8 Computer graphically reconstructed images of transparent heart. 86 6.9 Test volum e. ................... ......... 87 6.10 3D averaging filter .................... 89 Acknowledgments I would like to express great thanks to Stephen Benton for offering the opportunity to work on this thesis topic, and for his guidance and support all along the way. Also, to Tom Sullivan for being the best friend I could ever have, for the moral support, the patience and the fun, more thanks than I can ever express. Many thanks to members of the MIT Spatial Imaging Group for useful discussion, and for being great work associates and friends. Thanks to Mike Halle for being a hard-working and helpful partner in this research. This work was funded by a joint IBM/MIT agreement dated June 1, 1985. Chapter 1: Introduction Modern medical imaging methods such as Computed Tomography, Medical Resonance Imaging, and Positron Emission Tomography produce arrays of images of parallel cross- sections comprising a volume. The resulting slices provide a visual map of some structural or functional information inside the volume. Two factors are fostering the development of three-dimensional (3D) display of such data. First, the continuing improvement in imaging equipment for medical scanning pro- vides data with higher spatial resolution and increasing signal to noise ratio. Such data lend themselves well to image enhancement and computer-graphic 3D reconstruction algo- rithms. Secondly, as display technologies improve, different methods are becoming avail- able for displaying these three-dimensional medical data for more complete understanding. Various methods of 3D display are available, such as the varifocal mirror, head-tracked 3D display workstations, and holographic stereograms. The goal of this work is to demonstrate that 3D perception of spatial display of medical images can allow rapid and accurate comprehension of complex volumetric data. However, because the vast amount of information contained within the data set may overwhelm even the extended perceptual capacity of a good 3D display system, specialized image editing and enhancement tools must evolve concurrently to maintain a clear presentation of important structures within the data. As a result, many techniques for detecting, rendering and displaying boundaries be- tween regions of the data volumes as surfaces have been developed, and specialized hard- ware to minimize image generation time have evolved. These techniques attempt to successfully convey the 3D nature of the data with the aid of visual cues available in conventional computer graphic imagery, including light and shadow, texture, perspective, color and stereopsis. Recently, a superior algorithm for visualizing three-dimensional surfaces called Vol- ume Rendering has been developed. Its results supersede those of previously developed techniques for rendering volumetric data. The algorithm renders tissue boundaries as sur- faces, but avoids making any binary classification decisions in the process. As a result, the images it creates provide clear visualization of surfaces, and remain free of the types of rendering artifacts characteristic of many other 3D reconstruction algorithms. With volume rendering, a clinician can display enhanced structures of interest while attenuat- ing tissues of less importance. Such a tool for reconstructing medical data permits the generation of images in which 3D structures of interest are clearly understandable and unobscured by less important structural or functional information. 3D editing and rendering combined with spatial display offer clinicians the opportunity to view complex spatial data in three dimensions. Since holographic stereograms provide the highest level of image quality among any of the 3D display modalities currently avail- able to medical imaging, the choice of this method of
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