Physics of Cardiac Computed Tomography

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CHAPTER 8 Physics of Cardiac Computed Tomography

Computed tomography (CT) was first introduced in 1972 and has since become an indispensable tool for noninvasive diagnostic imaging. It is a robust and reproducible technique and its benefit for noninvasive cardiac imaging was soon envisioned and desired. Technical limitations prevented its applicability until the mid-1980s, but it was not until the introduction of multislice CT scanners with subsecond rotation times and higher volume coverage in the early 2000s13 that noninvasive cardiac CT imaging evolved into clinical routine.411 Among its various applications, coronary CT angiography (coronary CTA) has emerged as a valuable tool for imaging the coronary arteries, for which it has been shown to quantify coronary artery stenosis with high accuracy and especially to have a high negative predictive value for coronary artery disease (CAD). Imaging the heart and coronary anatomy poses high demands on spatial and temporal resolution. The small coronary arteries, with diameters typically of 2 to 4 mm, require optimal image quality and maximum resolution for reliable visualization and analysis. Because of their location close to the heart muscle and consequent strong movement during the cardiac cycle, their imaging requires almost freezing the heart to avoid motion artifacts. Finally, the scan time for covering the complete heart volume should be within the time of a single breath-hold to avoid breathing artifacts and limit radiation exposure and amount of contrast administered.

First introduced in 2004,12 64-slice CT systems helped establish CT imaging of the heart in clinical routine and were until recently considered state of the art. This section will therefore focus on 64-slice CT because it is still the widest available technology. The most recent developments, such as dual-source CT with high-pitch scanning and volume acquisition CT scanners, are expected to improve cardiac imaging further. These will be discussed at the end of this chapter.

CARDIAC IMAGING REQUIREMENTS

For reliable visualization and analysis of the cardiac anatomy, the imaging modality has to fulfill the requirements of high temporal resolution and high spatial and contrast resolution, which has to be simultaneously optimized with scan time and radiation exposure. Trading off one or more parameters to optimize one performance dimension may not lead to clinical useful results; rather, these conflicting requirements must be fulfilled within the same cardiac scan protocol.

Two goals can generally be defined for cardiac imaging. First, the imaging modality should allow virtual “freezing” of the motion of the heart to avoid motion artifacts. The time interval of the cardiac cycle contributing to an image should be short enough to allow the depiction of at least slow motion heart phases without motion artifacts. Second, the imaging technique should allow the selection of defined heart phases of the cardiac cycle. Because motion intensity varies over the heart cycle, with the slowest motion (usually) present in the diastolic phase, imaging is typically performed during this phase of the cardiac cycle to minimize image blurring caused by motion. A temporal resolution of 250 ms is generally considered sufficient for motion-free imaging for slow to moderate heart rates of up to 65 beats/min, because the length of the diastolic phase shortens with increasing heart rate.13 However, if imaging is desired for phases other than diastole (e.g., for functional information), more stringent requirements are necessary. Posing very rigorous demands on image quality, such as motion-free imaging in all heart phases, would require a temporal resolution shorter than 50 ms.

IMAGE RECONSTRUCTION TECHNIQUES FOR OPTIMIZED TEMPORAL RESOLUTION

Because of the permanent cardiac motion during the acquisition, standard reconstruction techniques result in images with high artifact content (e.g., blurring) and limited diagnostic use. The aim of dedicated cardiac image reconstruction algorithms is therefore to use only short scan segments and align these with the heart motion pattern so that the motion is frozen in a desired phase.

The optimal temporal resolution is achieved with algorithms that use the minimum amount of required data for image reconstruction.2,3,14 Generally, CT image reconstruction requires at least a parallel projection data angle range of 180 degrees. As a consequence, the temporal resolution will be on the order of trot/2, where trot is the time required for a full rotation of the scanner. However, the temporal resolution varies with the position in the scan field of view, which is determined by the temporal interval covered by the data contributing to the reconstruction to a particular image point. In a centered region of the scan field of view, the temporal resolution equals half the rotation time. In clinical practice, the heart should be sufficiently centered during data acquisition to maintain stable temporal resolution of half the rotation time. Half-scan reconstruction techniques preserve the spatial resolution compared with standard reconstructions, but because of less data contributing to an image, the noise is usually increased by a factor of image. Special considerations apply to today’s third-generation modern CT scanners, in which data acquisition is performed in fan beam geometry. Data is acquired over a range of 180 degrees plus fan angle and is then transformed to parallel beam geometry using so-called “rebinning techniques.” The previously described half-scan reconstruction algorithm is then applied to achieve the best temporal resolution.

With the introduction of multislice helical CT, almost isotropic three-dimensional resolution became feasible. Dedicated reconstruction algorithms are necessary to optimize temporal resolution, helical artifact reduction, and volume coverage. The basic concepts for phase-correlated imaging for multislice CT have been introduced with four-slice systems1,15 and are used in slightly different forms in today’s scanners.

Modern 64-slice CT scanners all offer rotation times of less than 0.5 second and down to 0.3 second. Thus, it is possible to achieve a temporal resolution of 150 ms, which allows for motion-free imaging in the diastolic phase for moderate to high heart rates. As a consequence, the usage of β blockers, intravenous or oral, to slow down the heart rate is common practice.8 Nevertheless, motion artifacts remain the most important challenge for coronary CTA, even with 64-slice CT systems.

ECG Synchronization

Traditionally, the patient’s electrocardiogram (ECG) has been used to correlate acquisition and reconstruction of CT data with heart motion. Data can be acquired in phases with slow motion to minimize motion artifacts; alternatively, the acquisition and reconstruction of different heart phases are possible for functional studies. Usually, the R wave of the ECG is used as a reference point, with the R wave being the most pronounced peak in the ECG. Alternative approaches to derive the motion signal retrospectively have been proposed, using information from CT raw data directly or from the generated images.16 However, for phase-correlated data acquisition, the ECG signal is used.

The start point of data acquisition or, respectively, data selection for image reconstruction is usually determined relative to the R waves of the ECG signal by a phase parameter. Three phase selection strategies are commonly used (Fig. 8-1)—relative delay (e.g., at 65% of the R-R interval), absolute delay, and absolute reverse (e.g., 400 ms after and before the R wave, respectively). For the relative delay, a temporal delay relative to the start point of the previous R wave is used to determine the start point of the ECG-triggered acquisition or the data reconstruction interval. This delay is determined individually for each heart cycle. For prospective data acquisition, the R-R interval times have to be prospectively estimated based on prior R-R intervals. The absolute delay uses a fixed delay time after onset of the R wave to trigger the data acquisition or start point of the reconstruction. Absolute reverse describes a fixed time prior to the onset of the next R wave for starting data acquisition or the start point of the reconstruction interval. For ECG-triggered data acquisition, the position of the next R wave again has to be estimated from previous R-R interval times.

TECHNICAL PRINCIPLES OF CARDIAC IMAGE ACQUISITION

Until recently, available CT technology did not allow covering the entire heart in one single heartbeat. Therefore, images at consecutive z positions are generated from data acquired in different cardiac cycles to cover the entire heart volume. Phase-consistent synchronization of the data acquisition and reconstruction with the heart motion is necessary; this is achieved by using the simultaneously recorded ECG signal of the individual patient. The heart phase-correlated data acquisition can be subdivided into two techniques, prospective triggering and retrospective gating.

Prospective Triggering

Prospective triggering uses the ECG signal to start the scan (data acquisition and x-ray on time). This technique is typically used with axial scans, meaning that the patient table is at rest during data acquisition. For imaging, the user specifies the delay time after the R wave; usually, the scan delay time is selected so that the data are acquired during the diastole of the heart. For each position, the scanner is continuously rotating until the ECG trigger signal indicates the desired heart phase, when the x-ray is switched on and data are acquired for 180 degrees plus the fan angle. The number of reconstructed images corresponds to the number of detector rows used. With the x-ray then switched off, the table advances to the next position, which typically corresponds to the total detector collimation (slight overlaps are necessary for contiguous volume coverage). This is repeated until the heart range is covered; thus, the technique is commonly referred to as a “step-and-shoot mode” (Fig. 8-2). Image reconstruction is performed with previously described half-scan algorithms, and so the temporal resolution corresponds to half the rotation time.

Prospective triggering has several limitations for clinical use. The sequential nature of data acquisition means that the table has to move between the scans, so that for typical heart rates, a heartbeat has to be skipped between every two scans and the total examination time will depend on the individual heart rate. The heart phase has to be chosen prior to scanning; therefore, irregularities in the heart cycle can lead to limitations of the data set. In a worst case scenario, this might require a further scan to obtain diagnostic images. Because the acquisition typically lasts over several heart cycles and the scan is triggered with respect to a mean length of the heart cycle, scanning can occur in the wrong phase. This can result in severe artifacts, especially in volume representations. The sequential nature of data acquisition means that it does not benefit from the higher image quality that can be achieved with helical CT. For example, the lack of true volumetric coverage can lead to misregistration of anatomic details if the patient moves between two table positions. Finally, prospective trigger techniques do not offer the option of regional or global functional analysis of the heart because the number of reconstructed phases typically covers only a small portion of the cardiac cycle.

However, cardiac CT examinations have recently been subjected to increased scrutiny because of their relatively high radiation dose.17,18 Prospective triggered data acquisition offers the highest dose savings and hence has experienced renewed interest.1921 In addition, improvements in ECG synchronization, such as so-called adaptive triggering or padding techniques, allow the system to react to ectopic beats and allow image reconstruction in a narrow phase range beyond the specified acquisition phase.

Retrospective Gating

Multislice helical CT scanning represented an important step toward true volumetric imaging, with the advantage of reconstructing overlapping image slices to enable isotropic three-dimensional resolution. Retrospective gated helical scanning synchronizes the reconstruction of a true volumetric helical scan to the heart motion by using the ECG signal recorded simultaneously during data acquisition. Only data acquired in a predefined phase of the cardiac cycle, usually the diastolic phase, is then used for image reconstruction. In addition, with continuous data acquisition, retrospective ECG gating can improve the robustness of the ECG synchronization against arrhythmia during the scan.

With submillimeter slice thickness, 64-slice CT offers considerable advantages over earlier technology in terms of spatial resolution and volume coverage. Two different scanner concepts were introduced. The volume concept provides a further increase in volume coverage by increasing the number of detector rows to 64. The resolution concept uses 32 physical detector rows in combination with double sampling in the longitudinal z direction. Thus, 64 overlapping slices are simultaneously acquired to increase longitudinal resolution independently of the pitch and reduce helical artifacts.12

With the advent of multislice helical CT scanning, various image reconstruction concepts have been introduced to take full advantage of volumetric ECG-gated data acquisition.1,14 The reconstruction process typically comprises two steps. The first step generally involves multislice helical interpolation algorithms to compensate for the continuous table movement during data acquisition. The second step uses half-scan reconstruction techniques for the generated transverse data segments to optimize temporal resolution.

Retrospective ECG-gated reconstruction allows reconstruction of the images at an arbitrary phase of the cardiac cycle. The start position for image reconstruction is shifted relative to the R peak and a stack of images can be reconstructed at adjacent z positions, depending on the volume coverage of the scanner. Figure 8-3A shows successive stacks reconstructed in consecutive heart cycles covering the cardiac volume. The entire volume can be reconstructed without gaps in the illustrated heart phases, as well as any other user-selected heart phases. This is a prerequisite for true functional volume imaging of the heart.

An important requirement for continuous and contiguous volume coverage is the restriction that the table feed per heart cycle should not exceed the total collimation width. The maximum table speed depends on the total duration of the heart cycle and therefore on the heartbeat. It can be shown as

image

or, in symbols,

image

where d is the table feed, trot is the rotation time, T is the total collimation, and fH is the heart rate. The maximum pitch (pmax) consequently has to fulfill the following condition:

image

This implies that for helical CT of the heart, the pitch is limited to relatively small values. For example, a heart rate of 60 beats/min and a rotation time of 0.33 second results in a maximum pitch of 0.33. As shown in Figure 8-3A, the slope of the detector position is proportional to the pitch that is correctly chosen so as to ensure continuous volume coverage. If the pitch is too high, volume gaps will occur between image stacks reconstructed at different heart cycles (see Fig. 8-3B). Typically, the pitch is set prior to the scan and stays constant throughout the scan, even if the heart rate changes. Therefore, the pitch should be chosen according to the minimum expected heart rate for an individual patient.

Multisegment Image Reconstruction

Dedicated reconstruction techniques can improve the temporal resolution of an image by using data from multiple subsequent heart cycles. Using so-called multisegment image reconstruction, the temporal resolution can be improved up to trot/(2N) by using data of N subsequent heart cycles.1 However, for an increasing number of segments used, the achieved improvement in temporal resolution comes at the expense of slower volume coverage because the pitch is no longer only limited by heart rate but also by the number of heart cycles used for reconstruction.

Multisegment techniques assume absolute periodicity of the cardiac cycle because data from several heart beats are combined to reconstruct a single image. However, slight differences in heart cycles occur even for regular heart rates, and images generated from multiple heart cycles represent only an average of the used cardiac cycles. In general, an increase in the number N of used segments compromises the reliability of the technique. The limitations of such techniques are obvious in patients with arrhythmia or changing heart rates during the cardiac cycle.

Finally, with multisegment reconstruction with N > 1 segments, the optimal temporal resolution can only be achieved if the patient’s heart rate and gantry rotation time of the scanner are properly desynchronized (Fig. 8-4A). Only if the start and end of the segments fit together and form a complete half-scan can the half-scan be subdivided into N segments of equal size and the temporal resolution be equal to trot/(2N). If the heart rate and rotation time are (partially) synchronized, the segments cover different temporal data intervals and the temporal resolution is determined by the segment with the longest duration (see Fig. 8-4B). Thus, the benefits of multisegment reconstruction are only available for a few “sweet spots,” determined by rotation time and heart rate (Fig. 8-5).

ECG Tube Current Modulation

Whereas retrospective ECG-gated data acquisition is the more robust acquisition mode compared with ECG-triggered data acquisition, it is also associated with high radiation exposure because of the continuous data acquisition at relatively low pitch. The low pitch is a consequence of the required phase-consistent coverage of the heart; however, coverage of all heart phases is not necessary if only a single heart phase—for example, in diastole—is targeted for image reconstruction. In this case, a significant portion of the acquired data is redundant. ECG-controlled tube current modulation, in which the tube current is reduced during phases of less importance, has been shown to reduce the radiation dose effectively during retrospective ECG-gated cardiac helical CT.3,18 Algorithms have been developed that restrict the nominal tube current to a predefined time window and reduce the tube current during the remaining time to about 20% of its nominal value (Fig. 8-6). The benefit of not switching off x-ray radiation completely lies in the preserved ability of continuous volume reconstruction in all phases of the cardiac cycle; specifically, functional imaging is still feasible. For images acquired at low dose and used for functional analysis, the image quality in terms of signal-to-noise ratio can be improved by using thick slices in image reconstruction.

Typically, the user can prescribe the position and width of the temporal window within which the nominal tube current is used relative to the heart cycle. This is defined prior to the scan by preliminary estimation of the optimal reconstruction interval based on the patient’s individual heart rate.

A limitation of current ECG tube modulation techniques occurs when the patient’ heart rate is not stable, because then the optimal reconstruction window might occur during the reduced tube current window. An efficient mechanism for ECG tube current modulation is that it has the flexibility to detect and react to ectopic beats and heart rate variations by automatically increasing the tube current to its nominal value when an R-R interval that is significantly different from the previous cycles is recognized.

The relatively high radiation exposure associated with ECG-gated helical data acquisition compared with prospective ECG trigger techniques has resulted in improved modulation techniques; these allow further reduction of the tube current outside the specified heart phase, typically to 4% of its nominal value. Although functional imaging might no longer be possible, it still maintains the advantages of volumetric data acquisition and flexibility to react to heart rate irregularities.20

For prospectively gated sequential scanning techniques, the duration of the x-ray is usually set to a predetermined time window based on the R-R interval length of the heart rate prior to beginning the scan. Recently introduced algorithms, referred to as padding or adaptive triggering, use a new technique that includes continuous analysis of the individual heart rate, which thus can vary the location and duration of the scanning window.19,24

Although comparable results in terms of image quality and dose savings of up to 70% can be expected for patients with normal heart rhythms, an improved stability of image quality is achieved only with slightly increased exposure. In patients with irregular heartbeats, conventional prospective gating still results in the highest dose savings, but at the expense of reduced image quality. Here, a dynamic length of the nominal tube current window with fast adaptation to changes in the ECG signal offers increased reliability at a relatively low dose.

NEW DEVELOPMENTS IN CARDIAC CT IMAGING

Dual-Source CT

Motion artifacts remain the most important challenge for coronary CTA, even with 64-slice CT systems. Thus, the use of β blockers prior to scanning is an important step of the cardiac CT examination to control the heart rate to values generally below 60 beats/min. If stable imaging at all heart rates is desired, the target temporal resolution is less than 100 ms, independent of the heart rate. For conventional third-generation CT systems, this would require an increased gantry rotation speed to ensure a clinically robust improvement of the temporal resolution.25 An alternative scanner concept that provides enhanced temporal resolution without the need for a faster rotation time is dual-source CT (DSCT), with two tubes and two corresponding detectors.26,27 In the first clinical realization of this type of system, two acquisition systems are mounted onto the rotating gantry, with an angular offset of 90 degrees (SOMATOM Definition, Siemens Healthcare, Forchheim, Germany).28 In the axial plane, one detector covers the entire field of view (50 cm in diameter), whereas the other detector is restricted to a smaller, central field of view (26 cm). The two detectors are equivalent in the longitudinal direction, using the manufacturer’s high-resolution concept of providing simultaneous acquisition of 64 overlapping 0.6-mm slices by means of z-flying focal spot technology.

As a practical consequence of the two-tube–detector configuration, DSCT offers improved temporal resolution of 25% of the gantry rotation time. The data acquisition is split up between the two systems, which acquire the data simultaneously in the same relative phase of the patient’s cardiac cycle and at the same anatomic level. Using single-segment reconstruction algorithms, the temporal resolution is 25% of the rotation time in a centered region of the scan field of view that is covered by both acquisition systems. Moreover, the temporal resolution is independent of the heart rate; the system achieves 83 ms, with a rotation time of 0.33 second.

An important consequence of the high stable temporal resolution is the optional use of β blockers. Studies have shown that high diagnostic accuracy is achieved in patients with high heart rates without the administration of β blockers.29,30

Efforts to reduce radiation dose to the patient are continued in dual-source systems. For retrospective ECG-gated examinations, the table feed can be optimally adapted to the heart rate as a consequence of the single-segment reconstruction approach. Thus, the pitch is significantly increased at elevated heart rates, thereby not only reducing the examination time but also the radiation dose to the patient. For low heart rates, radiation dose values for ECG-gated helical cardiac examinations with DSCT are similar to those obtained with comparable conventional CT systems, and even lower values are achieved for higher heart rates.31 Finally, ECG-triggered prospective scanning modes are available for patients with sufficiently stable heart rates.24

The newest generation of DSCT technology introduces a high-pitch scan mode to acquire a helical CT data set while covering the entire volume of the heart in one cardiac cycle.32 Prerequisites for the feasibility of such a scan mode were technical improvements, such as a faster rotation time (0.28 second), a larger detector coverage (two 4-cm detectors that acquire 128 slices each), and pitch values up to 3.2 in dual-source scanning. The scan mode is an implementation of the prospective triggered ECG mode; however, with the fast helical scan, the heart is covered within a heartbeat. Images are reconstructed with a temporal resolution that corresponds to 25% of the rotation time (75 ms). With a total acquisition time on the order of 250 ms, it is interesting to note that throughout the data set, subsequent images are reconstructed at later points of time in the cardiac cycle. The immediate advantage of this scan mode, however, is the elimination of the additional radiation exposure that typically occurs during low-pitch gated scanning. Thus, it might be possible to achieve effective dose values of 1 mSv or lower.33

CT with Volume Detectors

Technologic advances since the establishment of 64-slice cardiac CT have diverged, with one approach focusing on temporal resolution (DSCT; see earlier) and the second focusing on increasing volume coverage.3436 With area detector technology and related cone beam reconstruction techniques, the aim is to allow coverage of the entire cardiac anatomy in a single heartbeat without movement of the table. The first commercially available system was introduced in 2007 (Aquilion ONE, Toshiba Medical Systems, Tustin, Calif). It uses a 320-row detector and 0.5-mm detector elements. Thus, single heartbeat cardiac imaging becomes feasible with prospective ECG-triggered image acquisition. The theoretical advantages of this system is the elimination of stair-step artifacts between slabs of images from different heart cycles, which are inherent to techniques that require multiple gantry rotations to cover the whole heart volume. The diagnostic quality of this one shot that covers the entire heart, however, depends on the available temporal resolution. With a rotation time of 0.35 second, it is necessary to use multisegment reconstruction techniques to achieve temporal resolution beyond 175 ms.37

With area detector CT scanners, high-resolution imaging of the cardiac morphology, as well as dynamic and functional assessment through repeated scanning of the same scan range, may become possible.

SUMMARY AND OUTLOOK

Motion artifact–free phase-correlated cardiac imaging requires fast data acquisition and dedicated image reconstruction techniques that allow one to correlate imaging with the heart cycle. For this purpose, the patient’s ECG signal is recorded simultaneously with data acquisition and is used for synchronization.

Image reconstruction algorithms can be divided into single-segment and multisegment algorithms. Single-segment reconstruction provides a stable temporal resolution equal to the time required to acquire a range of 180 degrees of projection data, which corresponds to half the rotation time for single-source CT systems. Multisegment approaches collect data from multiple heart cycles and may improve the temporal resolution significantly for stable heart rates that are not in resonance with the scanner’s rotation time. Dual-source CT systems have been introduced to improve temporal resolution to 25% of the system’s rotation time, independent of the heart rate, and have been shown to provide diagnostic images reliably, even with high heart rates.

Today, use of fast scanner rotation times can routinely result in temporal resolution far below 100 ms. Together with isotropic submillimeter spatial resolution, CT images of the heart provide an image quality of high diagnostic value. In the future, technology will likely focus on further improving spatial and temporal resolution. This requires better detector technology, faster rotation times, and innovative concepts such as multiple sources and area detector technology.

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