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RESEARCH
Image quality vs radiation dose of four cone beam computed
tomography scanners
M Loubele*,1,2, R Jacobs2,3, F Maes1, K Denis4, S White5, W Coudyzer6, I Lambrichts7,
D van Steenberghe2,3 and P Suetens1
1
ESAT-PSI, Katholieke Universiteit Leuven, Belgium; 2Perdiodontology, Katholieke Universiteit Leuven, Belgium; 3Oral Imaging
Center, Katholieke Universiteit Leuven, Belgium; 4EMAP, Xios Hogeschool Limburg, Belgium; 5School of Dentistry, University of
California at Los Angeles, USA; 6Radiology, UZ Leuven, Belgium; 7Morphology Section, Universiteit Hasselt, Belgium
Introduction
During the last decade, there has been a trend towards radiation dose for the patient without significant loss of
using three-dimensional (3D) information to assist image quality are being investigated. Examples of these
dentomaxillofacial diagnostics and surgical planning.1 protocols are modified protocols on MSCT scanners4
This could first be realized by the use of conventional or the use of cone beam CT (CBCT).5,6
single and later multislice CT (MSCT).2 Nevertheless, Recently, an impressive number of CBCT scanners
because conventional CT protocols are generally have been introduced in the field of dentomaxillofacial
associated with relatively high radiation dose levels,3 radiology. Unfortunately, hardly any research-based
alternative CT protocols for bone visualization and evidence is available for either optimal image quality or
modelling that would allow the lowering of the effective radiation dose levels. Besides the development and
research of clinical evaluation protocols of these
scanners,7,8 it is essential to develop a technical test
*Correspondence to: Reinhilde Jacobs, Centrum voor Orale Beeldvorming,
Kapucijnvoer 7 blok a bus 7001, 3000 Leuven, Belgium; E-mail:
protocol aiding optimization of the individual scanner
reinhilde.jacobs@med.kleuven.be parameters according to the ALARA (as low as
Received 11 June 2007; revised 7 October 2007; accepted 12 October 2007 reasonably achievable) principle.9 Such optimization
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Therefore a comparison will be made between the The results of the analysis of the segmentation
MercuRay and the Somatom Sensation 16. accuracy can be found in Table 2. The highest accuracy
for the segmentation of the mandible was found for the
Data and statistical analysis i-CAT (protocols I2 and I3), this accuracy was also
For the evaluated protocols on the different scanners, higher than for the Somatom Sensation 16. The lowest
descriptive statistics were used to express the mean and accuracy was found for the MercuRay. The high
standard deviation between the ground truth values accuracy for the i-CAT could be achieved because this
measured on the laser model and the bone thickness image suffered less from the intensity inhomogeneity
measured on the CT images for all measurement lines. and it was therefore possible to calculate a threshold
Positive values indicated an underestimation of the true value based on the complete mandible. The MercuRay
suffered most from the intensity inhomogeneity and
thickness; negative values indicate an overestimation.
there was therefore a lower accuracy for the bone
Also the 95th percentile of the absolute difference
segmentation.
between the ground truth and the measured thickness
was calculated. A similar analysis was performed in the For the segmentation of the cylinder of bone and
aluminium in the contrast phantom, for all protocols an
previous study for the images of the contrast phan-
accuracy better than 1 mm was achieved. The Pearson
tom.16 Finally, the Pearson correlation coefficient
correlation coefficient between the accuracy achieved
between the accuracy achieved on the mandible and
on the mandible and the bone equivalent plastic was
the segmentation of the cylinder in bone and aluminum
0.37 and the correlation coefficient between the
were calculated.
accuracy achieved on the mandible and the aluminium
cylinder was 0.03. This means that based on the
analysis of the physical phantom, no conclusion can
Results be drawn about the segmentation of the mandible.
For the protocols used for oral implant placement,
The setup for the experiment did not fit in the the DPI100,c was the highest on the Somatom Sensation
Accuitomo 3D and therefore a smaller box was used 16. The highest radiation dose for the CBCT scanners
for the experiment on the Accuitomo 3D. Typical was for the NewTom 3G and the lowest for the
histograms, i.e. the histogram of the image intensities Accuitomo 3D. The i-CAT had the highest accuracy
and the cumulative histogram of the Laplacian of the combined with a low radiation dose and had as a
image, are shown in Figures 3–6 for the different CBCT surplus a submillimeter accuracy for the segmentation
scanners. For each image, the region of interest (ROI) is of the mandible. We can therefore say that this scanner
indicated with highlighted intensities. Due to the performed the best on this test.
intensity of the grey values in the NewTom 3G and When the radiation doses of the MercuRay and the
the MercuRay, several ROIs needed to be tested before Somatom Sensation 16 are compared, one can see that
a cumulative histogram of the Laplacian was found the radiation dose levels are similar. Because the
which was suitable for analysis. Such a histogram could radiation dose of the Somatom Sensation 16 is higher
be achieved when only a small region was taken into than the CBCT scanners for placement of oral
account. In the image histograms the intensities which implants, one may therefore expect that if a protocol
were taken into account to find the bone threshold are with a lower height is used on the MercuRay, we will
indicated in a thicker line. also have a radiation dose for the MercuRay that is
a b c
Figure 3 (a) A slice of the NewTom (protocol N2) together with a highlighted rectangle representing the region of interest. (b) Represents the
histogram of the image intensities and (c) represents the cumulative Laplacian histogram. The image intensities which are taken into account are
shown in a thicker line
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314 M Loubele et al
a b c
Figure 4 (a) A slice of the Accuitomo 3D. (b) Represents the histogram of the image intensities and (c) represents the cumulative Laplacian
histogram. The image intensities that are taken into account are shown in a thicker line
similar to Somatom Sensation 16 and thus higher than the X-ray beam at two opposite positions. Because of
the other CBCT scanners the larger distance between the source of the X-ray
beam and the object, and considering the limited
collimation of the X-ray beam, the irradiated area will
Discussion only be small; therefore, one can expect much of the
scattered radiation to be covered when an ion chamber
In this paper, the radiation dose and image quality of with a length of over 10 cm is used. In Figure 7b, a
different CBCT scanners was compared with the similar composition is made, but this time for the i-
radiation dose and image quality of an MSCT scanner. CAT scanner. The figure has been made for a protocol
The radiation dose was evaluated by a technical dose with a height of 13 cm. Because the scanned height is
measurement, the DPI100,c measured in the central hole even longer than the 10 cm of the ion chamber, it is
of a CTDI phantom. Recently, a lot of discussion for obvious that not all scattered radiation is covered by
and against the use of the CTDI or another technical the ion chamber. If we divided the DPI by the slice
dose measurement has been performed.11,12,22,23 We will thickness, for achieving the CTDI, we could obtain a
explain two of the shortcomings of the use of the CTDI. completely wrong dose descriptor. In Figure 7c, we give
The main difference between the CTDI and the DPI is the configuration for the Accuitomo 3D. For this
that the CTDI is the DPI divided by the slice thickness. scanner, a similar reflection can be made as for the
One of the most important shortcomings of the i-CAT, except that the scanned height here is smaller
CTDI is that it is measured over a length of 10 cm, than 10 cm. The use of longer phantoms as proposed
which is too short to include all the scattered radiation by Mori et al12 is not feasible in CBCT scanners for
dose in the protocol of a CBCT scanner. We show this dentomaxillofacial applications.11
in Figure 7. Figure 7a represents the configuration of Another problem for the CTDI measurement is the
the Somatom Sensation 16. The contour of the CTDI way that different CTDI measurements are combined.11
phantom is presented on an axial slice, together with For the CTDI measurements in MSCT scanners, the
a b c
Figure 5 (a) A slice of the MercuRay together with a highlighted rectangle representing the region of interest. (b) Represents the histogram of
the image intensities and (c) represents the cumulative Laplacian histogram. The image intensities which are taken into account are shown in a
thicker line
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M Loubele et al 315
a b c
Figure 6 (a) A slice of the i-CAT (protocol N2) together with a highlighted rectangle representing the region of interest. (b) Represents the
histogram of the image intensities and (c) represents the cumulative Laplacian histogram. The image intensities which are taken into account are
shown in a thicker line
weighted sum of the CTDI at the central position and the measurement of the DPI100 should be given because
the average of four peripheral measurements with this measurement can be obtained with the same
weights of one-third and two-thirds, respectively, is measurement procedure. The aim of future research in
used as global dose estimation. For the dose measure- technical dosimetry will consist of striving for a
ment in this study, only a measurement at the central correlation between the DPI or a new technical
hole was performed and not at the peripheral positions recording method and the effective radiation dose that
because there currently exists no similar rule to combine a patient receives. Also, correction factors will be
these into one dose estimate. This is intuitively calculated and tabulated to compensate for scattered
explained in Figure 7. For the Somatom Sensation 16 radiation, which was not measured by the ion chamber
(Figure 7a), the cross-section of the X-ray beam with of 10 cm, and similar correction factors will be
the phantom is almost rectangular. For the i-CAT tabulated to compensate for the geometry of the
(Figure 7b) and the Accuitomo 3D (Figure 7c), this scanner.
cross-section has a conical shape, which depends on the We assessed the segmentation accuracy of bone
geometry of the scanner and the protocol which was models segmented from CBCT and MSCT images by
used. It is obvious that the contribution of the comparing them with a model acquired from a laser
dosimetry at the central and peripheral holes in the scanner. Our method relies on a correct geometric
phantom does not make the same contribution to the alignment or registration of the CT images with a
radiation dose as for the traditional formula of the volumetric model with a voxel size of 0.1 mm acquired
CTDI. from the laser scanner. The voxel size of this model was
Unfortunately, when we performed a study on the defined as smaller than the voxel sizes of the CT images
technical dose that was reported in the manuals of the and the registration accuracy was therefore not
evaluated CBCT scanners, we noticed that they were determined by the laser model but by the CT images.20
aware of the problem with the CTDI and had therefore The availability of an accurate ground truth made it
adapted the definition of the CTDI based on their own possible to evaluate some rules for the finding of a
opinion. However, we propose that besides the CTDI threshold value for bone. It was found that, certainly
Table 2 Results of the analysis of the image quality and the radiation dose
Skull phantom Contrast phantom
Mandible Bone equivalent plastic Aluminium CTDI phantom
Protocol Prct 95 Mean ¡ Prct 95 Mean ¡ SD Prct 95 Mean ¡ SD DPI100,c
N1 3.5 20.7¡1.5 0.73 20.06¡0.17 0.37 20.06¡0.17 446
N2 3.5 20.72¡1.5 0.59 20.02¡0.13 0.37 20.02¡0.13 446
N3 3.4 20.7¡1.5 0.42 20.07¡0.16 0.4 20.07¡0.16 446
I1 1.4 0.03¡0.7 0.34 0.03¡0.2 0.26 0.05¡0.10 71
I2 1.0 20.03¡0.6 0.6 20.1¡0.19 1.03 0.08¡0.32 71
I3 1.0 20.08¡0.5 0.45 20.04¡0.24 1.07 0.12¡0.29 124
I4 1.1 20.01¡0.6 0.25 20.1¡0.08 0.25 20.19¡0.06 249
M1 4.2 20.1¡2.0 0.42 20.04¡0.38 1.01 20.04¡0.38 1569
A1 2.9 0.5¡1.1 0.3 20.17¡0.09 0.3 20.48¡0.57 107
S1 1.2 0.14¡0.6 0.24 20.07¡0.06 0.22 20.07¡0.06 1090
S2 1.2 0.14¡0.6 0.24 20.07¡0.06 0.22 20.07¡0.06 1677
CTDI, CT dose index; Prct, percentile, SD, standard deviation
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316 M Loubele et al
for the i-CAT scanner and the MSCT scanner, the use contrast phantom is a small phantom, only 5 cm in
of the rule indicated by Wiemker et al21 gave satisfying diameter and 5 cm in height. This means that except for
results. Unfortunately, this rule gave no accurate results the Accuitomo 3D the phantom is positioned comple-
when the images suffered more from intensity inhomo- tely in the field of view and therefore does not suffer
geneity. from the truncated view artefact. Secondly, because the
In a second experiment, the image quality was object is so small, there is less scattered radiation which
evaluated based on a physical phantom. Only a small can influence the image quality. The influence of the
correlation between the results of the segmentation scanner depends on the geometry of the scanner and the
accuracy on the mandible and the segmentation of the spectrum of the X-ray tube.24 How the scatter finally
cylinders in the contrast phantom was found. Several will influence the image quality can be determined by
reasons can be found for this small correlation. The the reconstruction algorithm which is developed by the
c
Figure 7 The configuration of the X-ray beam is presented for three different scanners: (a) Somatom Sensation 16, (b) i-CAT and (c) Accuitomo
3D. Each figure shows two positions of the X-ray beam in the opposite position, together with the contours of a CT dose index (CTDI) phantom.
The dashed-dotted line together with the dotted lines indicates the central and the two peripheral holes of the CTDI phantom
Dentomaxillofacial Radiology
Image quality and radiation dose of CBCT
M Loubele et al 317
CBCT manufacturer.24 Because these different factors larger region was scanned, so this also should be taken
are dependent on each scanner, one cannot predict the into account. The lowest radiation dose was achieved
image quality of bone segmentation based on the for the Accuitomo 3D, but here the smallest region was
segmentation of bone equivalent plastic in the contrast scanned. If, for example, a complete mandible needs to
phantom. This does not mean that physical phantoms be imaged, this would require at least three scans. As a
are useless for the evaluation of image quality of CBCT result, the Accuitomo 3D would require the highest
scanners. These phantoms are very useful for contin- radiation dose. If with the i-CAT a region with a similar
uous quality control of CBCT scanners. A difference, height would be scanned with the parameters of
for example, in contrast and therefore a deterioration of protocol I4, a similar dose to the NewTom 3G would
segmentation accuracy over time can indicate that there be achieved. One can therefore state that the radiation
might be a problem with the CBCT scanner. Also, dose of the i-CAT and the NewTom 3G are similar.
different parameters such as, for example, the However, the i-CAT has better segmentation accuracy
Hounsfield units without influence of scattered radia- for a similar radiation dose and therefore the i-CAT
tion dose can be calculated. performed best in this study.
The benefits of this work over the work of previous
studies17,18 in which the accuracy of linear measure-
ments of CBCT was derived is that the measurements
Conclusion
are performed automatically without much user inter-
action. Therefore, this method does not suffer from
observer and intraobserver variability. In the current A framework for the evaluation of image quality and
study, water was used to simulate soft tissue. Water for radiation dose was presented. The image quality was
the use of soft tissues is not very practical and a solid evaluated by measuring the segmentation accuracy of
water simulating or soft tissue simulating material the mandible in a skull phantom and the segmentation
should therefore be used for the generation of a skull of cylinders in a contrast phantom. The results of the
phantom. However, the use of solid material instead of image quality assessment were accumulated in the 95th
water belongs to a future study. Also in future studies, percentile of the absolute difference between the
different parts of the skull phantom should be measured thickness on the CT scanners and the ground
incorporated for the evaluation of the image quality. truth thickness. The radiation dose was evaluated by a
Besides this, a better definition of the measurement technical measure, the dose profile integral. The highest
lines will also be researched. radiation dose was found for the Somatom Sensation
The Somatom Sensation 16, the MSCT scanner, had 16 and the MercuRay. The lowest was found for the
the highest radiation dose together with the MercuRay. Accuitomo 3D, which also covered the smallest image
Similar results for the MercuRay were found by area. The best segmentation accuracy was found for the
Ludlow et al.25 The NewTom 3G had a higher i-CAT. No correspondence was found between accu-
radiation dose than the other CBCT scanners, but a racy in contrast phantom and skull phantom.
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