fourier transform and its medical...
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Fourier Transform and Its Medical Application
서울의대 의공학교실
김 희 찬
강의내용
• Fourier Transform의 수학적 이해
• Fourier Transform과 신호처리
• Fourier Transform과 의학영상 응용
Integral transform
• a particular kind of mathematical operator (a symbol or function representing a mathematical operation)
• any transform T of the following form: Input function f Output function Tf
<source>http://en.wikipedia.org/wiki/Integral_transform
Kernel function K of 2 variables
Inverse Kernel function K-1 for inverse transform
Integral transform
• Motivation
– manipulating and solving the equation in the target domain can be much easier than manipulation and solution in the original domain.
– The solution is then mapped back to the original domain with the inverse of the integral transform.
<source>http://en.wikipedia.org/wiki/Integral_transform
Integral transform
<source>http://en.wikipedia.org/wiki/Integral_transform
Transform Symbol K t1 t2 K-1 u1 u2
Fourier transform
Laplace transform
Laplace Transform
• the ability to convert differential equations to algebraic forms
• widely adapted to engineering problems
Pierre-Simon, marquis de Laplace (1749-1827) French Astronomer and Mathematician
Differential Equation
Transform differential
equation to
algebraic equation.
Solve equation
by algebra.
Determine
inverse
transform.
Solution
[ ( )] ( )L f t F s
1[ ( )] ( )L F s f t
0( ) ( ) stF s f t e dt
where s = + j is a complex number
Laplace Transform
( )f t ( ) [ ( )]F s L f t
1 or ( )u t 1
s
te 1
s
sin t 2 2s
cos t 2 2
s
s
sinte t 2 2( )s
coste t 2 2( )
s
s
t 2
1
s
nt 1
!n
n
s
t ne t 1
!
( )n
n
s
( )t 1
Common Transform Pairs
0( ) (1) stF s e dt
0
0
1( ) 0
ste eF s
s s s
( )
0 0
( ) 0
0
( )
0( ) ( )
1
t st s t
s t
F s e e dt e dt
e e
s s
s
( ) tf t e
Laplace Transform
( )f t ( )F s
'( )f t ( ) (0)sF s f
0( )
t
f t dt ( )F s
s
( )te f t ( )F s
( ) ( )f t T u t T ( )sTe F s
(0)f lim ( )s
sF s
lim ( )t
f t
*
0lim ( )s
sF s
Laplace Transform Operations
Laplace Transform • Ex) Solve a differential equation shown below.
• Sol)
2
23 2 24
d y dyy
dt dt (0) 10 and '(0) 0y y
2 24( ) 10 0 3 ( ) 10 2 ( )s Y s s sY s Y s
s
2 2
24 10 30( )
( 3 2) 3 2
24 10 30
( 1)( 2) ( 1)( 2)
sY s
s s s s s
s
s s s s s
12 4 2( )
1 2F s
s s s
2( ) 12 4 2t tf t e e
Y
y
Laplace Transform • Ex) Solve a differential equation shown below.
• Sol)
2
22 5 20
d y dyy
dt dt (0) 0 and '(0) 10y y
2 20( ) 0 10 2 ( ) 0 5 ( )s Y s sY s Y s
s
2 2
20 10( )
( 2 5) 2 5Y s
s s s s s
2 2 2
4 4 8 10 4 4 2( )
2 5 2 5 2 5
s sY s
s s s s s s s s
2 2 2 2
4 4( 1) 3(2)( )
( 1) (2) ( 1) (2)
sY s
s s s
( ) 4 4 cos2 3 sin 2t ty t e t e t
Time vs Frequency
주파수축
시간축
Periodic Signal Representation
Fundamental
Harmonics
Fourier Series
Harmonic Analysis : 주기적인 신호는 기본주기와 이의 정수 배 주기를 갖는 sine파(고조파:harmonics)형의 합으로 나타낼 수 있다.
Orthogonal Basis Function • spectral factorization :
– expanding a function from its "standard" representation to a sum of orthonormal basis functions, suitably scaled and shifted.
– the determination of the amount by which an individual orthonormal basis function must be scaled in the spectral factorization of a function, f, is termed the "projection" of f onto that basis function.
t
V, I
A constant, DC waveform
A
-A
T = 1/f = 2/
t
V, I = Acos(t+)
- /
An AC, sine waveform
f = s(t) = Acos(t+) where t : time, : frequency, A : amplitude, : phase angle
Harmonics Analysis
Figure Harmonic reconstruction of the aortic pressure waveform.
Figure Harmonic coefficients of the aortic pressure waveform
Effect of Higher Harmonics
Original waveform
Reconstructed waveform
N=1 N=3
N=7 N=19
N=79
abruptly changing points in time
Effect of Higher Harmonics
Effect of Higher Harmonics
Joseph Fourier initiated the study of Fourier series in order to solve the heat equation.
: fundamental frequency : harmonics
Periodic Signal Representation: The Trigonometric Fourier Series
Fourier Series • Example Problem
MATLAB Implementation
Figure (a) MATLAB result showing the first 10 terms of Fourier series approximation for the periodic square wave of Fig. 10.7a. (b) The Fourier coefficients are shown as a function of the harmonic frequency.
Compact Fourier Series
• The sum of sinusoids and cosine can be rewritten by a single cosine term with the addition of a phase constant;
• Example Problem
Exponential Fourier Series
Euler’s formula :
Relationship to trigonometry :
Proofs : using Talyor series,
Exponential Fourier Series • Complex exponential functions are directly related to sinusoids and cosines;
• Euler’s identities:
• Example Problem
It requires only one integration.
Meaning of the negative frequencies?
Transition from Fourier Series to Fourier Transform
T→, 0=2/T →0,
m0→
Fourier Series Fourier Transform
t
Fourier Series
t
Fourier Transform
Continuous Aperiodic signal’s frequency components.
Bandwidth
Time vs Frequency
Aperiodic Signal Representation
Fourier Transform
• Fourier Integral or Fourier Transform; – Used to decompose a continuous aperiodic signal into its
constituent frequency components.
– X() is a complex valued function of the continuous frequency, .
– The coefficients cm of the exponential Fourier series approaches X() as T .
– Aperiodic function = a periodic function that repeats at infinity
• Example Problem
Properties of the Fourier Transform
• Linearity
• Time Shifting / Delay
• Frequency Shifting
• Convolution theorem
Discrete Fourier Transform • DTFT (Discrete Time Fourier Transform) : Fourier
transform of the sampled version of a continuous signal;
– X() is a periodic extension of X’() - Fourier transform of a
continuous signal x(t) ;
• Periodicity :
• Poisson summation formula*:
N - 1
• DFT (Discrete Frourier Transform) : Fourier series of a periodic extension of the digital samples of a continuous signal;
*which indicates that a periodic extension of function can be constructed from the samples of function
Discrete Fourier Transform • Symmetry (or Duality)
– if the signal is even: x(t) = x(-t)
– then we have
– For example, the spectrum of an even square wave is a sinc function, and the spectrum of a sinc function is an even square wave.
• Extended Symmetry
t
t t
Fourier Series
Discrete Time Fourier Transform Discrete Fourier Transform
t Fourier Transform
• fast Fourier transform (FFT) : – an efficient algorithm to
compute the discrete Fourier transform (DFT) and its inverse.
– There are many distinct FFT algorithms.
– An FFT is a way to compute the same result more quickly: computing a DFT of N points in the obvious way, using the definition, takes O(N2) arithmetical operations, while an FFT can compute the same result in only O(NlogN) operations. Figure (a) 100 Hz sine wave. (b)
Fast Fourier transform (FFT) of 100 Hz sine wave.
Figure (a) 100 Hz sine wave corrupted with noise. (b) Fast Fourier transform (FFT) of the noisy 100 Hz sine wave.
Discrete Fourier Transform
power spectrum biosignals
Time vs Frequency
Biosignal Representation
Biosignal Representation The occipital EEG recorded while subject having eyes
closed shows high intensity in the alpha band (7-13 Hz).
Spectrogram : a time-varying spectral representation(forming an image) that shows
how the spectral density of a signal varies with time
Signal Filtering
• Filtering : remove unwanted frequency components
• Low-Pass, High-Pass, Band-Pass, Band-Stop
• via Hardware and/or Software
Signal Filtering using Fourier Transform
• Selected parts of the frequency spectrum H(f)
Low-pass Filter Band-pass Filter
• Rejection of the selected parts of the frequency spectrum H(f)
Notch Filter
Signal Filtering using Fourier Transform
Heart Rate Variability (HRV)
• Heart rate variability (HRV) is a measure of the beat-to-beat variations in heart rate.
• Time domain measures – standard deviation of beat-to-beat intervals – root mean square of the differences between heart beats
(rMSSD) – NN50 or the number of normal to normal complexes that
fall within 50 milliseconds – pNN50 or the percentage of total number beats that fall
with 50 milliseconds.
• Frequency domain measures – ULF(<0.0033Hz), VLF(0.0033~0.04), LF(0.04~0.15) – HF (0.15~0.4Hz) – LF/HF : an index of sympathetic to parasympathetic
balance
HRV Examples
Heart rhythm of a 44-year-old female with low heart rate variability while
suffering from headaches and pounding sensation in her head.
Heart rhythm of a heart transplant recipient. Note the lack of variability in heart rate, due to loss of
autonomic nervous system input to the heart.
Heart rhythm of a healthy 30-year-old male driving car and
then hiking uphill.
Heart rhythm of a 33-year-old male experiencing anxiety. The prominent spikes are due to pulses of activity in the
sympathetic nervous system.
Heart Rate Variability (HRV)
Pan, J. and Tompkins, W. J. 1985. A real-time QRS detection algorithm. IEEE Trans. Biomed. Eng. BME-32: 230–36,
A Real-time QRS Detection Algorithm
ECG sampled at 200 samples per second. Low-pass filtered ECG. Bandpass-filtered ECG.
ECG after bandpass filtering and differentiation.
ECG signal after squaring function. Signal after moving window integration.
2D Fourier Transform
• Fourier transform can be generalized to higher dimensions:
2D Fourier Transform
The FTs also tend to have
bright lines that are
perpendicular to lines in the
original letter. If the letter has
circular segments, then so
does the FT.
2D cosines with both
horizontal and vertical
components
a pure horizontal cosine of
8 cycles and a pure
vertical cosine of 32 cycles
Image Processing using Fourier Transform
• Smoothing LPF operation;
• Sharpening HPF operation;
Image Processing using Fourier Transform
X-ray computed tomography
• computed tomography (CT scan) or computed axial tomography (CAT scan), is a medical imaging procedure that utilizes computer-processed X-rays to produce tomographic images or 'slices' of specific areas of the body.
X-ray computed tomography
• 1917: J. Radon, Mathematical basis
• 1963: A. Cormack(Tuffs Univ.) developed the mathematics behind computerized tomography.
• 1972: G.N. Hounsfield(EMI), built practical scanner
Allan M. Cormack USA Tufts University Medford, MA, USA 1924 - 1998
Sir Godfrey N. Hounsfield, UK Central Research Laboratories, EMI, London, UK 1919 -
The Nobel Prize in Physiology or Medicine 1979
"for the development of computer assisted tomography"
X-ray Imaging System
• differential attenuation of x-rays to produce an image contrast
0
/
x
dI n Idx
dI dx n I
I I e
n : atoms per unit volume of the material
I : X-ray intensity at x
I0: incident X-ray intensity
:linear attenuation coefficient[np/cm or cm-1]
X-ray Imaging System
• Linear Attenuation Coefficient
I = I0e-x
I0 I
x
1
I0
2 3 N-1 N
I
x
x
x
x
x
•••
•••
I = I0e-(1+2+3•••+N-1+N)x
i= ln(I0/I)/x
X-ray computed tomography
CT scanner with cover removed to show internal components. T: X-ray tube, D: X-ray detectors X: X-ray beam, R: Gantry rotation
Reconstruction Problem
c1,c2,c,3,….c256
1 256
65281
1
2
3
.
.
.
.
65536
C1
C2
C3
.
.
.
.
.
C65536
w1,1 w1,2 … w1,65536
w2,1 w2,2 … w2,65536
.
.
.
.
.
.
w65536,,1 …w65536,,65536
=
“Is the problem mathematically solvable?”
(1) Iterative method
(2) Fourier transform method
(3) Back projection method
Algebraic Reconstruction Technique
cross section
fij(calculated element)
N elements per line
gj(measured projection)
1 1
Nq
j ijq q i
ij ij
g f
f fN
Where q=indicator for the iteration #.
Iterative ray-by-ray reconstruction
11
14
1
8
5
7 9 16
6
12 10
3 3
8 8
3.5 2.5
8.5 7.5
11 11
5
11
1
7 9
5
9 7
1
-1.5 +1.5
1st
Iteration
Object +2
+2
-.5 +.5
Next
Iteration
Radon Transform
• Radon transform operator performs the line integral of the 2-D image data along y’
• The function p(x’) is the 1-D projection of f(x,y) at an angle
• Properties – The projections are periodic in with a period of 2
and symmetric; therefore, p(x’) = p(-x’)
– The Radon transform leads to the projection or central slice theorem through a 1-D or 2-D Fourier Transform.
– The Radon transform domain data provide a sinogram.
Object f(x,y)
y
x
x’
y’
Projection x’
y’
0
1'( ') ( , ) ' x xp x f x y dy
x’=x1
Radon Transform (Cont.)
( ') [ ( , )]
( , ) ( cos sin ')
( 'cos 'sin , 'sin 'cos ) '
' cos sin
' sin cos
cos sin '
sin cos '
p x R f x y
f x y x y x dxdy
f x y x y dy
where
x x
y y
or
x x
y y
Projection Theorem • Relationship between the 2-D Fourier transform
of the object function f(x,y) and 1-D Fourier transform of its Radon transform or the projection data p(x’).
1( ) [ ( ')]
( ') exp( ') '
( 'cos 'sin , 'sin 'cos )exp( ') ' '
( , ) exp[ ( cos sin )]
( cos , sin ) ( , )
( , )
x y
P p x
p x i x dx
f x y x y i x dx dy
f x y i x y dxdy
F F
F
Fourier Transform Method
1-D transform
f(x,y)
p(x’) P()
construct 2-D
Spectrum F(, )
inverse 2-D
transform
• A 1-D Fourier transform of the projection data p(x’) at a given view angle is the same as the radial data passing through the origin at a given angle in the 2-D Fourier transform domain data.