Physical Foundations of MR Imaging

©1991 Robert M. Weisskoff, Ph.D.
Director, NMR Physics Research and the Hyperscan Imaging Laboratory
MGH-NMR Center
Massachusetts General Hospital Department of Radiology and the Harvard Medical School
Note: This lovely manuscript was written by Dr. Weisskoff for a course we taught togethor some years ago, and is included here without his explicit permission. Do not circulate this without first contacting me, or Dr. Weisskoff.

Synopsis

This talk will introduce the physical effects that allow us to produce clinically useful magnetic resonance (MR) images. From a user's point of view, the MR imager is unique among radiological instruments because of its wide variety of "knobs" available to modify the effective contrast on the images. The need for this variety comes from the same source as MR's broad usefulness:  the contrast on MR images comes from an intricate balance between the chemical, physical and biological properties of tissue. Subtle changes in the tissue (protein density, fiber de-myelination, edema, etc.) affect the magnetic interaction between protons. It is these interactions that create the majority of contrast on MR images, and ultimately produce clinically useful differentiation between tissues. The goal of this talk is to introduce and explain the basic concepts of magnetic resonance and tissue relaxation, and illustrate how these effects are used to produce the variety of MR images used in practice today.

Nuclear Magnetic Resonance:  What do we see?

The heart of MRI, like the heart of the atom, is the nucleus. The nucleus has a set of basic physical properties, some of which we can relate to in our everyday life, and some of which have no simple analogues. For example, the nucleus has a mass and an electric charge, both of which we have enough everyday experience with to understand intuitively. Rounding out these two properties is a third, equally fundamental, but with which most people are less familiar. This property is "angular momentum" or SPIN. Just as every nucleus has some specific mass and some specific charge, it also has some specific angular momentum.

What is "spin"?

It sure would be nice to give a simple explanation of what spin really is. Unfortunately,  answering this question is just as hard as describing what "mass" really is. We've had enough experience with mass in our lives that, luckily, we rarely ask the question. However, there are some analogies about rotating systems that may help a bit. For example, sit on a well-greased, spinnable desk chair (or lab stool), and have someone start you turning. If you put your arms and legs out (assuming you don't fall off), you will spin more slowly; if you pull them back, you will spin more quickly, just like a figure skater finishing a routine. The property of the spinning system that expresses its tendency to keep on spinning is its "angular momentum."  The more angular momentum you have the harder it is to stop turning, just like the more linear momentum a freight train has, the harder it is to stop it from moving straight down the tracks.

For "regular" (linear) momentum, the property of a material that relates its speed to its momentum is its mass. The property that relates an object's rotational rate to its angular momentum is its "moment" or its spin. While it may take a leap of faith, it turns out that this spin is, just like mass, an intrinsic part of sub-atomic particles, even though there really isn't anything spinning (at least, not that we know of). Even more remarkable, this sub-atomic angular momentum can only come in discrete chunks, or quanta. That is, just like charge is only found in integral units of the charge on the electron, angular momentum, too, comes only in quantized bundles.

Why is this important for NMR? It turns out that particles with spin interact with a magnetic field:  an applied magnetic field will tend to make the particle line up with the field. The energy saved by an electron lining up with the magnetic field is fairly small. For example, even in the strong 1.5 tesla (T) field used in a high field MRI unit (1 T = 10,000 gauss. The earth's magnetic field is 1/3-1/2 gauss), the energy saved by lining up with the field for an electron is about 1° K. Since room temperature is 300 °K, you'd think this tiny energy difference would be lost. But as we'll see below, MRI depends on detecting changes from nuclei that have 1000 times smaller effects.

Larmor relationship and Resonance

The relationship between a particle's angular moment (mechanical) and its tendency to line up with a magnetic field is called its "gyromagnetic" (or, if you're British, magnetogyric) ratio. This ratio, for electrons, is one of the most precisely known constants of nature, and the agreement between its measured value and theoretically calculated value (they agree to 12 digits of precision) represents one of the great triumphs of Quantum Electrodynamics. Surprising, there are no comparable predictions for protons (Hydrogen nuclei) or more complex nuclei, and so our knowledge of this constant for NMR is purely empirical.

One way of expressing this constant is in terms of the energy that would be required to take a particle that was lined up with the magnetic field and flip it so that it was oriented opposite to the field. (This was the 1° K energy mentioned for electrons in a 1.5 T field above)  A convenient way of expressing this energy, instead of by temperature, is by frequency. Radio waves, for example, have an energy that is proportional to their frequency. (More precisely, photons, which are quanta of electromagnetic wave energy, have energy which is related to their frequency. A radio wave is made of bundles of these photons)  We can thus express the effective magnetic moment in terms of the frequency of radio wave that it would take to totally flip the particle in the magnetic field. For example, for protons:

Frequency = 42.58 MHz / Tesla

That is, the nucleus of a hydrogen atom would require the energy in a 63.87 MHz radio wave (around Channel 5 on your TV) to complete re-align the nuclear spin in a 1.5 T magnetic field. This constant, which is different for different nuclei, is called the "Larmor" constant, names after Sir Joseph Larmor, a 19th century English physicist who studied the splitting of atomic emission lines in strong magnetic fields.

Frequency is more than just a convenient way to speak about the nuclear magnetic energy. Because the proton's angular momentum is quantized, it turns out that an individual proton can either be aligned with the magnetic field or against the magnetic field:  those are its only choices, and there is no "in-between."  This may seem strange, but the quantum physics that describes the universe at the atomic scale offers the protons no compromises. Since the proton can only make transitions between those two states (aligned with the magnetic field and against the magnetic field), the Larmor frequency represents not just the energy of the transition, but also the ONLY frequency that will cause the protons to "flip" alignment in the magnetic field. MRI is based on observing what happens when we cause the spins to flip between these two states.

NMR is a tiny effect

We've delved as deeply as we need to into the quantum mechanics of NMR. For the rest the lecture, to describe the properties of tissues, it is more useful to talk about collections of nuclei. First point:  since it is energetically more favorable for any given nucleus to line up with the magnetic field, do all of them line up? The answer is NO. Thermodynamic and statistical mechanics teaches that in a system in equilibrium at some temperature, T, the ratio of the populations in two states with energy difference, *E, is given by e-*E/kT, where k is a universal constant. So if *E is much larger than kT, we'd expect there to be a large population difference. However, as is the case in proton NMR, it *E is much less than kT, this ratio will be very close to 1. At 1.5 T, for example, *E = 0.003 °K, so that the total population difference is only 10 parts in one million!  That means at room temperature, roughly 0.001% of the protons are participating at any given time.

NMR and vectors

How do we see this excess? To understand this, we need one more model, but hopefully it'll be the last one you need to learn, and it should be the most useful. To describe collections of protons, it is convenient to introduce a "vector" model. The net effect all the nuclear magnetic moments is for them to combine into an effective net Magnetization, which simply expresses the sum off the magnetic moments of all the nuclei at a given time. (Because of the thermodynamics above, for every 1,000,000 protons, we'd expect 500,005 to be lined up with the field, 499,995 to be against the field, so the net magnetization would only be about 0.001% of the magnetization of the protons themselves.)


We can draw this net magnetization as a vector, oriented along the magnetic field, representing the average effect of all these nuclei:

The basic dynamics of NMR are very simple:  This net magnetization will rotate (or "precess") around the direction of net magnetic field. The rate at which the vector precesses is precisely the Larmor frequency described above. Sitting in a 1.5 T magnet, then, the magnetization vector precesses 64 million times per second.

Unfortunately, in equilibrium, we cannot detect this excess. The only way to detect the magnetization is to knock it out of equilibrium. By hitting the system with an intense oscillating magnetic field (radio) that is perpendicular to the main magnetic field, we can, while this oscillating field is present, tip the magnetization down. That is, since the rule is the magnetization rotates in the direction of the net field, the intense oscillating field gives the magnetization a new direction to nutate about. For example, if we apply an oscillating magnetic field in the y direction, we get:

This rf pulse used to tip the spins into the transverse plane is called a "90°" pulse, because it tipped the spins 90° around the y-axis. Once it is in the x-y plane, the magnetization can now be detected. Why? It turns out that any antenna that can create the intense oscillating field that is perpendicular to the main magnetic field can also pick up a rotating magnetization vector that is also in that perpendicular plane. Once the intense field is turned off, the magnetization starts precessing about the original direction of the magnetic field (at the Larmor frequency), and this precessing magnetization can be picked up with the antenna:

Note that the signal picked up is simply the x-component of the vector, which oscillates in time. The intensity of the signal is proportional to the "transverse" (x-y) component of the magnetization vector. This intensity thus has two parts:  more magnetization makes it bigger (for example, more protons), the angle the vector makes between the z axis (the direction of the static magnetic field) or the "longitudinal", and the transverse (x-y) plane.

The important factoids to remember are:  (1)  the magnetization rotates about the effective magnetic field at the Larmor frequency; i.e., at a frequency proportional to the local magnetic field;  (2) only when the magnetization is in the xy, or "transverse" plane can it be detected.

Nuclear Relaxation:  More to life than Density

The "excitation" method given above gives us a signal that is proportional to the local magnetization, which is simply the local density of protons. More protons per cc, more signal. However, if all we had was proton density, it'd be a bit like x-ray CT. What makes MRI so powerful is the way in which the images can be more heavily weighted to biological properties of tissue. In this section, we introduce "relaxation" (although it seems when it is first introduced, no one finds it particularly relaxing), which accounts for most of the useful contrast in MRI. Unfortunately, the terminology, which is historically based, can be blamed on physicists of the 1940's and 50's who gave names to these effects that were just terms in an equation.

To paraphrase Donne, no proton is an island, entire unto itself, at least as far as NMR is concerned. The local environment  determines both the rate at which the nuclei become polarized (i.e., line up with the magnetic field), and the length of time they can usefully precess after an excitation (Figure 4 above). The first time expresses how long it takes the longitudinal magnetization to build up, and is called "T1." Both of these effects are referred to as "relaxation" phenomena, because they describe the process by which magnetization relaxes to its equilibrium state. When the system is excited (tipped into the transverse plane so that we can get a signal on our scanner), T1 expresses the length of time we'd have to wait before we could hit it again and get the same signal. The second time expresses how long the transverse magnetization hangs around, and is called "T2."  This section will cover a little more about relaxation, and how it is used to make useful contrast in MRI,

T1, Longitudinal, or Spin-lattice relaxation

In the near vacuum of space, there are hydrogen atoms that float about, indeed, like islands. There are magnetic fields in space, and when a nucleus flips its spin, it can take a really long time to flip back. (The half life, which is like T1, is about 1023 years!)  Why does it take so long? The answer is that just because something is energetically favorable, it doesn't have to happen if there isn't an available mechanism to actually flip the spins. From the quantum mechanics discussion earlier, we saw that flipping the spin requires a photon (a little bundle of electromagnetic energy) right at the Larmor frequency. If there aren't photons of this frequency floating around in the soup, then the nucleus can't flip, even if it is energetically favorable. The greater the density of electromagnetic energy at this frequency, the more rapidly the protons can flip their spin and return to equilibrium; that is, the shorter will be T1.

Back to earth, into biological tissue at 37°C. Where do protons get the needed electromagnetic energy to make transitions? The answer is:  from other spins in the soup. All molecules are is constant motion, tumbling and vibrating. In a magnetic field, some of these molecules have magnetic moments, like the protons we've been discussing, but also electron clouds can have quite large moments. As these molecules tumble and vibrate and randomly walk through the tissue, the moving magnetic moment produces energy (photons) through the electromagnetic spectra. If there is significant overlap of this energy at the Larmor frequency of the protons, then they can be efficiently relaxed (flipping spins is easily mediated) and T1 will be short. If there is relatively little overlap, then, just as in outer space, T1 can be long.

In solids, for example, where all the spins have crystallized into a lattice, there may be very little relaxation because the vibrational modes of the lattice are much to high in frequency to allow efficient relaxation. In these crystals, T1 can be minutes or even hours long. (Bloch's work was originally done in solids, which is hard NMR work even today!  Because he talked about the coupling between the spins and the background "lattice," T1 is sometimes called spin-lattice relaxation, though it is a stretch to think of it this way for biological tissue.)  In free water?CSF behaves pretty much like free water?the primary source of relaxation is through the rotation of the water molecules. This rotation is, however, much faster than the Larmor frequency, and thus relaxation in pure water is not particularly efficient, with T1 lying between 3-6 s.

However, for tissues with higher protein concentration, mobile lipids, and other long, floppy molecules, the water protons can be much more efficiently relaxed because the rotation and vibration of these larger molecules is much closer to the Larmor frequency. In addition, the protons on these molecules will also be efficiently relaxed. The T1 of grey and white matter in the brain is around 1.0 and 0.8 s, respectively, and the T1 of fat (though it is made up of several resonances, see "Beyond Water," below) is more like 0.2-0.5 s.

Thus, while the proton density between, say very liquid CSF and necrotic, edematous tissue, on the one hand, and grey and white matter on the other, may be slightly different (no more that 20%), the T1 times may be different by an order of magnitude. How do we exploit this for imaging? The answer lies in one of the MRI "knobs" called TR, which translates loosely as time-between-repetitions. Since T1 represent the time it takes the sample to re-magnetize, if we re-excite the sample before it comes back to equilibrium, we will have less magnetization to tip down into the plane. If we plot the effective magnetization available as a function of this repetition time, TR, for two tissues with different T1's but the same protons density, we find:

Notice at very short TR we have very little image intensity - we aren't letting the spins relax enough to give any signal at all. At very long TR, say 6000 msec which isn't on the graph, but you can imagine the lines moving together, there is a lot of signal, but both tissues have the same signal. On the other hand, for TR=1000 or 1500, there is a big difference between the two curves; by using this TR, we should get good contrast on our MR images. Such an images, with a moderately short TR (in the brain, between 500-1000 ms) is called a "T1-weighted" image; tissues with short T1 show up bright; long T1 show up dark.

In addition to the inherent T1 of the tissue, we sometimes add material that modifies this relaxation time, especially in CNS studies. One such class of materials is the Gadolinium (Gd) chelates (there are three currently on the market). They all work the same way:  Gd has a huge magnetic moment because of its unpaired electrons, and this electron cloud behaves in such a way as to provide plenty of energy at the Larmor frequency for protons in a 0.5 - 1.5 T scanner. As a result, the proton T1 will drop precipitously whenever it can get near (right up next to) one of the Gd-chelates. In the brain, it can only do this when the iv-delivered Gd can leak through the blood-brain barrier into the interstitial space, which primarily only happens in pathology. If it does leak through, it can drop the T1 from, say, 1000 ms to 200 ms. As a result, a T1-weighted image taken after injection will show bright spots compared to a pre-injection image wherever the Gd has leaked through.

T2, Transverse, or Spin-Spin relaxation

Once we excite the spins, and they are in the transverse plane, this transverse magnetization will also disappear, usually at a rate much faster than the longitudinal magnetization recovers. There are many ways to think of T2 relaxation, but the most useful I've found for medical imaging is this:  all protons are affected by magnetic fields of their neighbors, making them precess at ever so slightly different frequencies. (Remember Larmor:  protons precess at a frequency proportional to their local magnetic field)  As a result, once tipped into the transverse plane, the magnetization, which was perfectly aligned in Figure 3, begins to "dephase."  The total magnetization of any given proton (the length of the magnetization vector) doesn't necessarily decrease, but when we sum up all the little vectors, which no longer point in the same direction, the net magnetization (the vector sum of all the arrows) is less:

For many biological systems, the net result of this "transverse" relaxation is a simple, exponential decrease of coherent, transverse magnetization:

M = Moe-t/T2.

In solids, back in the early days of NMR, this effect was described as the effect that one spin locked in the lattice had on its neighboring spins (as opposed to the effect of the lattice itself), which could be quite strong. Thus this type of relaxation historically was called "spin-spin" relaxation. In solids, the T2's can be very short, measured in microseconds. While, the perturbations are no weaker in biological systems, the effect of random motion in a fluid or gel that describes most soft tissues averages out much of the dephasing, and thus T2's tend to range from 10's to 100's of milliseconds.

We have another knob on our MR scanner to exploit T2 differences between tissues. This knob is called TE (roughly translates to "time-'til-echo"), and is used to vary the time after the excitation that we measure the magnetization:

In this graph, we have assumed a very long TR so that there is no competing T1 effect. At very long TE, there is no signal, because the transverse magnetization has relaxed away. At very short TE, there is plenty of signal, but no contrast between tissues of different TE. At intermediate TE's, we find good T2 contrast. In the brain, scans with these TE's (and long TR) are called "T2-weighted:"  protons with long T2 are bright, short T2 are dark.
It's very important not to "mix" contrasts; that is, try to get both T1 and T2 contrast by using both long TE and short TR. Why? Most tissues that have long T1 also have long T2, and vice versa. However, T1 and T2 contrast go the opposite ways:  T1 contrast is long T1 dark; T2 contrast is long T2 bright. As a result, an image with short TR (T1-contrast) and long TE (T2-contrast) pretty much gives a grey, low contrast image. Short TE (no T2 contrast), long TR (no T1 contrast) does play a role, giving an image proportional to proton density. Summarizing, using the TE and TR knobs, we get:
TR
 
Long
Proton Density
T2-weighted
Short
T1-Weighted
Not Used
 
Short
Long
 
 
TE

T2* and local inhomogeneity

There are two kinds of transverse relaxation you will hear about:  T2 and T2*. T2, which was just described, describes random frequency shifts that come about from spins interacting with other spins at close (i.e., atomic) range. However, many other things might make protons within a given "voxel"  (chunk of tissue described in a single picture element, or pixel, of the MR image) precess at slightly different frequencies. For example, no magnet has a perfectly uniform magnetic field, so that even within a small volume, protons at one end of the volume may have a different frequency than those at the opposite end. In addition, the body itself is slightly magnetizable, due to all its water, and thus the difference between, for example, the juxtaposition of air filled sinuses and the tissue surrounding them create magnetic field non-uniformities. As a result, protons will precess at different frequencies depending on their proximity to the air-tissue interfaces. Just as with the T2 relaxation described above, the net average magnetization will decrease after the excitation because signal, which is the vector sum of all the magnetization vectors, disappears as each group of protons spreads to a different place in the transverse plane. This total rate of signal loss, which includes both magnetic field non-uniformities as well as "true" spin-spin interactions is called T2* (pronounced "T-two-star").

FID and Spin Echoes

The important distinction between T2 and T2* is that the inhomogeneities that lead to T2* effects are static. That is, in the time of the NMR excitation-acquisition (say 100 msec), the field inhomogeneity doesn't change. Since this frequency is static for each proton, it makes sense that there might be some way to recover the lost magnetization, by making the magnetization reverse the path it took, in essence, making time go backwards. There is such a way, and it is called a "spin echo," one of the simplest and most clever inventions in NMR, first described by E. Hahn in 1950.

The idea is very simple. After exciting the protons with a 90° pulse, wait some time, T, and then apply a 180° pulse; that is, an RF pulse at the Larmor frequency that is twice as intense. For example, if we applied the 90° pulse so the protons rotated about the y-axis, we can apply the 180° pulse so that they rotate about the x-axis. If between time 0 and T, protons experiencing one magnetic field precessed D degrees, then the 180° pulse will flip them to D degrees back the other side of the x-axis. Between time T and 2T then, the protons will continue to precess in the same direction, making back the distance D degrees and reach the origin (0°) at time 2T.

They do this because their local magnetic field does not change between time 0 and 2T. In fact, no matter what static field the protons experience, they will all return to 0° at 2T, and we will get back a large signal. This signal is called an "echo" because it seems to grow out of nowhere, echoing the original excitation and signal. Note that this won't happen for true T2 relaxation. The loss of coherence there depends solely on random spin-spin interactions, which, because they are random, can't happen the same way between 0 and 2T. As a result, this "spin echo" will still have T2-weighting, and the amplitude of the spin echo will be decreased by e-2T/T2. For spin echo imaging, 2T is called "TE" and thus it is the knob we use to dial in T2 contrast.

There are also imaging modes that simple use the 90° excitation pulse with no additional 180° pulse, imaging the original signal. That original signal (as opposed to the echo) is called the "free induction decay" or FID, so these are sometimes called FID-images. These images have an intensity that decreases like e-TE/T2*. FID-images are used in a variety of contexts in MRI. While beyond the scope of this introduction, they are particularly useful for making faster MR images, especially when T2* contrast or T1 contrast is desirable. In addition, specifically in the head, FID images are particularly sensitive to distortions in the magnetic field caused by biological material, especially deoxygenated blood that would be present from a sub-acute hemorrhage. Imaging blood will be described in a later talk in this series.

Beyond Water:  Other protons, other nuclei

While nearly all of this discussion has described protons in water, there are other protons in the body. One of the strengths of MRI is that this chemical difference is also manifest in the NMR signal due to the interaction between the electrons that make up the molecules and the nuclei that we see with MR. For example, in water, the oxygen, which is fairly electronegative, steals most of the electron cloud away from the hydrogen. As a result, the protons (the hydrogen nuclei) are pretty much unshielded from main magnetic field. On the other hand, the protons in a -CH2 group on a fatty chain pretty much get to keep their electrons nearby. These electrons shield the protons every so slightly from the magnetic field. As a result, their Larmor frequency is slightly different from those of water protons, by about 3 parts-per-million. This slight frequency shift, called the "Chemical shift" is easily detectable, and can both the useful in imaging (though more so in other parts of the body than the head) and can cause some slight artifacts in the images, shifting the apparent positions of fat from water on the images. Chemical shift is another example of the exquisite interaction between chemistry, biology and physics that make NMR such a potent medical instrument.

An allied field of MR imaging is MR spectroscopy (MRS) which seeks to exploit these chemical differences. For example, it is possible to image the protons in various metabolites, which are all present in trace quantities (at least, compared to water) in the cells. Many researchers who work in MRS believe that metabolic imaging is the next great application of NMR in clinical practice, primarily because of the increase in diagnostic power that may be available by imaging the functional constituents of the brain instead of the mere spectator, water.

In addition to hydrogen nuclei, many other nuclei have NMR resonances. (Remember, any nucleus with "spin" will have resonances.)  There are nuclei with no spin, 12C, the next most abundant nucleus in the body, for example, and thus are not useful for NMR. However, many others are, though they are usually not the most abundant isotopes in the body:  13C, 23Na, 19F,31P, etc. Carbon and Phosphorus spectroscopy have numerous applications to the study of metabolism, and have been exploited in countless physiological experiments in basic neurology, cardiology, etc. Like proton spectroscopy, though, large scientific triumphs have yet to translate into large clinical acceptance, currently because of the added difficulty and cost associated with such exams, though proponents of such techniques believe that these are mere reflections of the current technology. Ultimately, the best NMR image you'll ever see is likely to be of a corpse:  there is no motion artifact and the contrast between grey and white matter is exquisite. However, there is really no way to tell whether the image came from a live person or a dead corpse, setting, perhaps, limits on what MRI can tell us. MRS, no doubt, could distinguish the two.

Conclusion

In this lecture, we have described the basic phenomena behind MRI, and how useful MR images with different contrast are constructed. Protons, the most abundant NMR-active nuclei in the body, precess at their Larmor frequency, which is proportional to the local magnetic field. While the density of these protons is readily imaged, more useful contrast is often found by observing the way the protons interact, through their relaxation times. T1 reflects the time it takes longitudinal magnetization to recover after it has been tipped into the transverse plane. T2 reflects the rate at which this transverse magnetization fades away due to coupling with other spins. T2* also includes the rate at which transverse magnetization disappears because of static magnetic field inhomogeneity, but this static component can be removed by using a spin echo. Long TR, long TE studies produce T2-weighted scans, with long T2 showing bright. Short TR, short TE studies produce T1-weighted scans, with long T1 showing dark. Long TR, short TE studies leave proton density weighted images.