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A Novel Tool for Supervised Segmentation Using 3D Slicer Daniel Chalupa *

and Jan Mikulka

Department of Theoretical and Experimental Electrical Engineering, Brno University of Technology, Technická 3082/12, 616 00 Brno, Czech Republic; [email protected] * Correspondence: [email protected] Received: 15 October 2018; Accepted: 7 November 2018; Published: 12 November 2018

Abstract: The rather impressive extension library of medical image-processing platform 3D Slicer lacks a wide range of machine-learning toolboxes. The authors have developed such a toolbox that incorporates commonly used machine-learning libraries. The extension uses a simple graphical user interface that allows the user to preprocess data, train a classifier, and use that classifier in common medical image-classification tasks, such as tumor staging or various anatomical segmentations without a deeper knowledge of the inner workings of the classifiers. A series of experiments were carried out to showcase the capabilities of the extension and quantify the symmetry between the physical characteristics of pathological tissues and the parameters of a classifying model. These experiments also include an analysis of the impact of training vector size and feature selection on the sensitivity and specificity of all included classifiers. The results indicate that training vector size can be minimized for all classifiers. Using the data from the Brain Tumor Segmentation Challenge, Random Forest appears to have the widest range of parameters that produce sufficiently accurate segmentations, while optimal Support Vector Machines’ training parameters are concentrated in a narrow feature space. Keywords: 3D slicer; classification; extension; random forest; segmentation; sensitivity analysis; support vector machine; tumor

1. Introduction 3D Slicer [1] is a free open-source platform for medical image visualization and processing. Its main functionality comes from the Extension Library, which consists of various modules that allow specific analyses of the input data, such as filtering, artefact suppression, or surface reconstruction. There is a lack of machine-learning extensions except for the open-source DeepInfer [2]. This deep-learning deployment kit uses 3D convolutional neural networks to detect and localize the target tissue. The development team demonstrated the use of this kit on the prostate segmentation problem for image-guided therapy. Researchers and practitioners are able to select a publicly available task-oriented network through the module without the need to design or train it. To enable the use of other machine-learning techniques, we developed the Supervised Segmentation Toolbox as an extensible machine-learning platform for 3D Slicer. Currently, Support Vector Machine (SVM) and Random Forest (RF) classifiers are included. These classifiers are well-researched and often used in image-processing tasks, as demonstrated in References [3–8]. SVMs [9] train by maximizing the distance between marginal samples (also referred to as support vectors) and a discriminative hyperplane by maximizing f in the equation: f ( α1 · · · α n ) = Symmetry 2018, 10, 627; doi:10.3390/sym10110627

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where yy is defined defined as as +1 +1 for for aa class class A sample and –1 for a class B sample, α is a Lagrangian multiplier, multiplier, where → and x is the feature vector of the individual sample. On real data, this is often too strict because and ~x is the feature vector of the individual sample. On real data, this is often too strict because of noisy noisy samples samples that that might might cross cross their their class class boundary. boundary. This This is is solved solved by by using using aa combination combination of of of techniques known known as as the the kernel kernel trick trick and and soft soft margining. margining. The The kernel kernel trick trick uses uses aa kernel kernel function function techniques to remap remap the the original original feature feature space space to to aa higher-dimensional higher-dimensional one one by by replacing replacing the the dot dot product product in in φφ to Equation (1) (1)with withφφ( x( xi )i )· Thisallows allowslinear linear separation data as required by SVM. the SVM. Equation · φ( xxjj).. This separation of of thethe data as required by the An An example of the kernel function is the radial basis function usedininthis thisstudy. study.Incorporating Incorporating aa soft soft example of the kernel function is the radial basis function used margin allows allows some some samples samples to to cross cross their their class class boundary. boundary. Examples Examples of of such such soft-margin soft-margin SVMs SVMs are are the the margin C-SVM [10] [10] and and N-SVM N-SVM [11]. [11]. The The C C parameter of the C-SVM modifies the influence influence of of each each support support C-SVM vector on on the the final final discriminatory discriminatory hyperplane. hyperplane. The The larger larger the the C, C, the closer the soft-margin soft-margin C-SVM C-SVM is is to to vector hard-margin SVM. SVM. The The N parameter of the N-SVM defines a minimum number of support vectors vectors aa hard-margin and, consequently, consequently, an an upper upper bound bound of of the the guaranteed guaranteed maximum maximum percentage percentage of of misclassifications. misclassifications. and, Further modifications modifications to to the the SVM SVM can can also also be be done, done, such such as as using using fuzzy-data fuzzy-data points points for for the the training training Further dataset, as as demonstrated demonstrated in in References References [5,6]. [5,6]. dataset, RF uses uses aa voting voting system system on on the the results results of of the the individual individual decision decision trees. trees. Each Each decision decision tree tree is is RF created on on the the basis basis of of aa bootstrapped bootstrapped sample sample of of the the training training data data [12]. [12]. created 2. Materials Materials and and Methods Methods 2. The data data used used in in this this study study describe describe Low Low Grade Grade Glioma Glioma (LGG) (LGG) obtained obtained by by MRI. MRI. The The dataset dataset The consists of of four four images images of of one one patient patient (LG_0001, (LG_0001, Figure Figure 1): 1): T1T1- and and T2-weighted, T2-weighted, contrast-enhanced contrast-enhanced consists T1C, and and Fluid Fluid Attenuated Attenuated Inversion Inversion Recovery Recovery (FL). (FL). These These data data are are part part of of the the training training set set featured featured in in T1C, the Brain Tumor Segmentation (BraTS) 2012 Challenge. the Brain Tumor Segmentation (BraTS) 2012 Challenge.

Figure Figure 1. 1. Slice Slice 88 88 of of the the LG_0001 LG_0001 data data from from the the 2012 2012 Brain Brain Tumor Tumor Segmentation Segmentation (BraTS) (BraTS) Challenge. Challenge. The dataset consists of a (a) T1-weighted image with labels as overlay; (b) postcontrast T1-weighted The dataset consists of a (a) T1-weighted image with labels as overlay; (b) postcontrast T1-weighted image; image; (c) (c) T2-weighted T2-weighted image; image; and and (d) (d) Fluid Fluid Attenuated Attenuated Inversion Inversion Recovery Recovery (FL) (FL) image. image.

The The free free and and open-source open-source Supervised Supervised Segmentation Segmentation Toolbox Toolbox extension extension [24] [13] of of the the 3D 3D Slicer Slicer was was used used throughout throughout this this study. study. The The extension extension allows allows the the user user to to train train aa range range of of classifiers classifiers using using labeled labeled data. data. The The user user is is also also able able to to perform perform aa grid grid search search to to select select the the optimal optimal parameters parameters for for the the classifier. classifier. To achieve this, the extension uses either an already available function or a cross-validation algorithm To achieve this, the extension uses either an already available function or a cross-validation algorithm developed developed by by the the author author of of the the extension, extension, depending depending on on the the classifier classifier library library used. used. Currently, Currently, N-SVM N-SVM and and C-SVM C-SVM from from the the dlib dlib library library [13] [14] and and C-SVM C-SVM and and Random Random Forest Forest from from Shark-ml Shark-ml library library [14] [15] are are

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Symmetry 2016, xx, x 3 of 9 incorporated. The extension takes care of the parallelizable parts of the training and classification subtasks, thus significantly reducing computation times. A preprocessing algorithm selection is also a incorporated. The takes care of parallelizable parts the classification part of the extension. This allows artefact or feature extraction. Theand extension workflow incorporated. The extension extension takesfor care of the thecorrection parallelizable parts of of the training training and classification subtasks, thus significantly reducing computation times. A preprocessing algorithm selection is alsoa issubtasks, depictedthus in Figure 2. significantly reducing computation times. A preprocessing algorithm selection is also apart partofofthe theextension. extension.This Thisallows allowsfor forartefact artefactcorrection correctionor orfeature feature extraction. extraction. The The extension extension workflow workflow is depicted in Figure 2. is depicted in Figure 2.

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Figure 2. Supervised segmentation extension workflow. Figure 2. 2. Supervised Supervised segmentation segmentation extension extension workflow. workflow. 3. Results and Discussion Figure

3. Results Results andofDiscussion Discussion A series tests were performed in order to provide a sense of the speed and accuracy of the 3. and provided classifiers. Sensitivity and specificity metrics were usedoftothe evaluate the results. Aofclassifier A series series of of tests tests were were performed performed in in order order to to provide provide aa sense sense of speed and and accuracy accuracy of the A the speed the that had aclassifiers. larger sumSensitivity of specificity and sensitivity (orwere theirused respective means, provided and specificity specificity metrics to evaluate evaluate the when results.cross-validation A classifier classifier provided classifiers. Sensitivity and metrics were used to the results. A was considered a better classifier. During firstrespective test run, each type of classifier was trained thatused) had aawas larger sum of of specificity specificity and sensitivity sensitivity (orthe their means, when cross-validation that had larger sum and (or their respective means, when cross-validation and using the single patient image set. the Optimal training parameters of the classifiers wasevaluated used) was was considered considered better classifier. During the first test test run, each each type of of classifier classifier was trained trainedwere was used) aa better classifier. During first run, type was obtained using a grid-search approach. The results are presented in Figures 3–5. The γ parameter and evaluated evaluated using using the the single single patient patient image image set. set. Optimal Optimal training training parameters parameters of of the the classifiers classifiers were and were isobtained common in both SVM classifiers and influences the variance of the radial basis kernel. A large γ obtained using a grid-search approach. The results are presented in Figures 3–5. The γ parameter using a grid-search approach. The results are presented in Figures 3–5. The γ parameter means that more data points will look thusthe preventing overfitting. Using the aforementioned is common common in both both SVM classifiers andsimilar, influences the variance of of the radial radial basis basis kernel. kernel. A large large γ γ is in SVM classifiers and influences variance the A dataset, the results indicate a relative insensitivity of the classification accuracy on this parameter. means that more data points will look similar, thus preventing overfitting. Using the aforementioned means that more data points will look similar, thus preventing overfitting. Using the aforementioned dataset, the results results indicate relative insensitivity of the the classification accuracyThe on this this parameter. parameter. For the given dataset, C values of the C-SVM larger than 1 seem optimal. best results of the dataset, the indicate aa relative insensitivity of classification accuracy on For the the classifier given dataset, dataset, C values values of the the C-SVM10% larger than 11combined seem optimal. optimal. The best results resultsradial of the thebasis N-SVM are obtained with N around or lower with aThe high-variance For given C of C-SVM larger than seem best of N-SVM classifier are obtained with N around 10% or lower combined with a high-variance radial basis function. Optimalare RFobtained trainingwith parameters a small node size with of under 5, number radial of trees higher N-SVM classifier N aroundwere: 10% or lower combined a high-variance basis function. Optimal RF training training parameters were: aa small small node size size of of under under 5, 5, number number of of trees trees higher higher function. Optimal RF parameters were: node than 800, no out-of-bag samples, and no random attributes. than 800, 800, no no out-of-bag out-of-bag samples, samples, and and no no random random attributes. attributes. than 1

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The effect of different image types on classifier accuracy was examined in the last test run (Figures and 9). 88 ofimage thesensitivity LG_0001 images were used a source of training Figure 7. RF-classifier and specificity usingasdifferent vector sizes. The8a effect of Slices different types on classifier accuracy was training examined insamples. the lastSufficient test run sensitivity and obtained images by onlywere usingused T1- and images. Furthermore, (Figures 8a–9). Slices 88 ofwere the LG_0001 as a T2-weighted source of training samples. Sufficient Symmetry 2016, xx, specificity x 6 ofall 9 The effect of different image types on classifier T1-weighted accuracy was examined the last achieved test run classifiers benefited from the addition of abypostcontrast image. The RFinclassifier sensitivity and specificity were obtained only using T1- and T2-weighted images. Furthermore, all (Figures 8a–9). Slices 88 of the LG_0001 images were used a source of training samples. Sufficient best overall results with of FL,of and postcontrast T1-as and T2-weighted images. classifiers benefited fromthe theuse addition a postcontrast T1-weighted image. The RF classifier achieved sensitivity and specificity were obtained by only using T1- and T2-weighted images. Furthermore, all best overall results with the use of FL, and postcontrast T1- and T2-weighted images. classifiers benefited from the addition of a postcontrast T1-weighted image. The RF classifier achieved best overall results with the use of FL, and postcontrast T1- and T2-weighted images.

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The following standardized procedure was designed in order to compare classifier performance. Training samples were extracted from the whole volume of the unmodified T1C and T2 images. Then, sensitivity and specificity were obtained using fivefold cross-validation. The best performing parameters and results are reported in Table 1. Segmentations are shown in Figure 10. Classification results can be further improved by using preprocessed data instead of raw data, and by means of [16]. postprocessing to remove the outlying voxels and inlying holes as demonstrated in Reference [15]. Table 1. Classifier comparison and best-performing parameters. Parameters Parameters

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Figure Figure 10. 10. (a) (a) RF, RF, (b) (b) C-SVM, C-SVM, and and (c) (c) N-SVM N-SVM classification classification results results of of the the slice slice 88 88 (white) (white) and and ground ground truth (red). truth (red).

Lastly, Lastly, the the performance performance of of the the RF RF classifier classifier trained trained on on all all tumor tumor cores cores of of the the 20 20 real real high-grade high-grade glioma glioma volumes volumes using using the the 3D 3D Slicer Slicer extension extension were were compared compared to to similar similar studies studies performed performed on on the the BraTS BraTS dataset. dataset. The The values values were were obtained obtained as as aa mean mean of of fivefold fivefold cross-validation. cross-validation. This This comparison comparison is is shown in Table 2. The other DICE values are from Reference [17]. shown in Table 2. The other DICE values are from Reference [16]. The to combine combine the theresults resultsofofdifferent differentclassifiers classifiers further expand usability of The means to to to further expand thethe usability of the the Supervised Segmentation Toolbox extension were added. Currently, logical AND andOR ORand anda Supervised Segmentation Toolbox extension were added. Currently, logical AND and amajority majorityvoting votingsystem systemare areimplemented. implemented. An An addition addition of of aa Multiple Classifier System (MCS) is is currently currently considered. considered. A A review review of of the the advantages advantages of of MCS MCS is provided by Wozniak et al. [18]. [17]. Termenon Termenon and and Graña Graña [19] [18] used used aa two-stage two-stage MCS MCS where where the the second second classifier classifier was was trained trained on on low-confidence low-confidence data data obtained obtained by by training training and and analysis analysis of of the the first first classifier. classifier. In In the the future, future, the the authors authors expect expect implementing implementing additional classifiers as well. Adding a Relevance Vector Machine (RVM), for example, might bring an improvement over SVM [19]. Table 2. RF classifier comparison with similar studies. The classifier was trained using all 20 of the real high-grade glioma volumes, and the DICE value is a mean of fivefold cross-validation.

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additional classifiers as well. Adding a Relevance Vector Machine (RVM), for example, might bring an improvement over SVM [20]. Table 2. RF classifier comparison with similar studies. The classifier was trained using all 20 of the real high-grade glioma volumes, and the DICE value is a mean of fivefold cross-validation. Paper

Approach

DICE

This paper Geremia [21] Kapás [16] Bauer [22] Zikic [23] Festa [24]

RF Spatial decision forests with intrinsic hierarchy RF Integrated hierarchical RF Context-sensitive features with a decision tree ensemble RF using neighborhood and local context features

0.43 0.32 0.58 0.48 0.47 0.50

4. Conclusions The Supervised Segmentation Toolbox extension was presented as an addition to the 3D Slicer extension library. This extension allows the user to train and use three types of classifiers, with more to be added in the future. The usability of the extension was demonstrated on a brain-tumor segmentation use case. The effects of the training parameters of all classifiers on the final sensitivity and specificity of the classification were considered to provide an insight into usable parameter selection for future studies. A low γ in combination with softer margin terms resulted in a better performing classifier commonly for both SVM classifiers. This might be largely due to a limited training sample, and a broader dataset should be analyzed in order to generalize the results. The RF classifier performed best using no added randomization, a relatively large tree count, and a small node size. The possibility of reducing training vector size in order to reduce model complexity and decrease classification time is verified. A 20-fold increase of the number of unique training samples resulted, at best, in a 2% increase of specificity. All combinations of input images are considered as a training input for all classifiers, and the significance of adding more types of images is discussed. A combination of T1C and T2 images performed sufficiently for all classifiers. The addition of the FL image brought a slight improvement in sensitivity. Lastly, best-performing parameter combinations were listed and the corresponding results were compared. The RF classifier had the largest sensitivity and worst specificity, and C-SVM performed oppositely. The significance of these two metrics largely depends on the type of task for which the classifiers are used. All sensitivity and specificity data were obtained directly using the 3D Slicer extension. Supplementary Materials: The authors publicly release the source code of the Supervised Segmentation Toolbox. The source code can be found on GitHub [13]. The BraTS 2012 dataset is available on the challenge’s website. Author Contributions: J.M. conceived and designed the experiments; D.C. performed the experiments, programmed the extension, analyzed the data, and wrote the paper. Funding: This work was supported by the Ministry of Health of the Czech Republic, grant no. NV18-08-00459. Conflicts of Interest: The authors declare no conflict of interest.

Abbreviations The following abbreviations are used in this manuscript: BraTS FL LGG MCS OOB RVM RF SVM

Brain-Tumor Segmentation Fluid-Attenuated Inversion Recovery Low-Grade Glioma Multiple Classifier System Out Of Box Relevance Vector Machine Random Forest Support Vector Machine

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