Orestis Zachariadis1, Andrea Teatini2, Nitin Satpute3, Juan Gómez-Luna4, Onur Mutlu4, Ole Jakob Elle5, Joaquín Olivares3. 1. Department of Electronics and Computer Engineering, Universidad de Cordoba, Córdoba, Spain. Electronic address: orestis.zachariadis@uco.es. 2. The Intervention Centre, Oslo University Hospital - Rikshospitalet, Oslo, Norway; Department of Informatics, University of Oslo, Oslo, Norway. Electronic address: andre_tea@outlook.com. 3. Department of Electronics and Computer Engineering, Universidad de Cordoba, Córdoba, Spain. 4. Department of Computer Science, ETH Zurich, Zurich, Switzerland. 5. The Intervention Centre, Oslo University Hospital - Rikshospitalet, Oslo, Norway; Department of Informatics, University of Oslo, Oslo, Norway.
Abstract
BACKGROUND AND OBJECTIVE: B-spline interpolation (BSI) is a popular technique in the context of medical imaging due to its adaptability and robustness in 3D object modeling. A field that utilizes BSI is Image Guided Surgery (IGS). IGS provides navigation using medical images, which can be segmented and reconstructed into 3D models, often through BSI. Image registration tasks also use BSI to transform medical imaging data collected before the surgery and intra-operative data collected during the surgery into a common coordinate space. However, such IGS tasks are computationally demanding, especially when applied to 3D medical images, due to the complexity and amount of data involved. Therefore, optimization of IGS algorithms is greatly desirable, for example, to perform image registration tasks intra-operatively and to enable real-time applications. A traditional CPU does not have sufficient computing power to achieve these goals and, thus, it is preferable to rely on GPUs. In this paper, we introduce a novel GPU implementation of BSI to accelerate the calculation of the deformation field in non-rigid image registration algorithms. METHODS: Our BSI implementation on GPUs minimizes the data that needs to be moved between memory and processing cores during loading of the input grid, and leverages the large on-chip GPU register file for reuse of input values. Moreover, we re-formulate our method as trilinear interpolations to reduce computational complexity and increase accuracy. To provide pre-clinical validation of our method and demonstrate its benefits in medical applications, we integrate our improved BSI into a registration workflow for compensation of liver deformation (caused by pneumoperitoneum, i.e., inflation of the abdomen) and evaluate its performance. RESULTS: Our approach improves the performance of BSI by an average of 6.5× and interpolation accuracy by 2× compared to three state-of-the-art GPU implementations. Through pre-clinical validation, we demonstrate that our optimized interpolation accelerates a non-rigid image registration algorithm, which is based on the Free Form Deformation (FFD) method, by up to 34%. CONCLUSION: Our study shows that we can achieve significant performance and accuracy gains with our novel parallelization scheme that makes effective use of the GPU resources. We show that our method improves the performance of real medical imaging registration applications used in practice today.
BACKGROUND AND OBJECTIVE: B-spline interpolation (BSI) is a popular technique in the context of medical imaging due to its adaptability and robustness in 3D object modeling. A field that utilizes BSI is Image Guided Surgery (IGS). IGS provides navigation using medical images, which can be segmented and reconstructed into 3D models, often through BSI. Image registration tasks also use BSI to transform medical imaging data collected before the surgery and intra-operative data collected during the surgery into a common coordinate space. However, such IGS tasks are computationally demanding, especially when applied to 3D medical images, due to the complexity and amount of data involved. Therefore, optimization of IGS algorithms is greatly desirable, for example, to perform image registration tasks intra-operatively and to enable real-time applications. A traditional CPU does not have sufficient computing power to achieve these goals and, thus, it is preferable to rely on GPUs. In this paper, we introduce a novel GPU implementation of BSI to accelerate the calculation of the deformation field in non-rigid image registration algorithms. METHODS: Our BSI implementation on GPUs minimizes the data that needs to be moved between memory and processing cores during loading of the input grid, and leverages the large on-chip GPU register file for reuse of input values. Moreover, we re-formulate our method as trilinear interpolations to reduce computational complexity and increase accuracy. To provide pre-clinical validation of our method and demonstrate its benefits in medical applications, we integrate our improved BSI into a registration workflow for compensation of liver deformation (caused by pneumoperitoneum, i.e., inflation of the abdomen) and evaluate its performance. RESULTS: Our approach improves the performance of BSI by an average of 6.5× and interpolation accuracy by 2× compared to three state-of-the-art GPU implementations. Through pre-clinical validation, we demonstrate that our optimized interpolation accelerates a non-rigid image registration algorithm, which is based on the Free Form Deformation (FFD) method, by up to 34%. CONCLUSION: Our study shows that we can achieve significant performance and accuracy gains with our novel parallelization scheme that makes effective use of the GPU resources. We show that our method improves the performance of real medical imaging registration applications used in practice today.