Real-Time Ultrasound Image-Guidance and Tracking in External Beam Radiotherapy

Background and Purpose - To evaluate the accuracy of Clarity (clinical version) system by using ultrasound phantom and some probe position. - To evaluate the intrafraction motion of prostate by collecting and analyzing ultrasound monitoring data from some patients. - To evaluate the accuracy of Clarity (Anticosti) system by using 3D phantom programmed with sinusoidal and breathing movement patterns to simulate computer-controlled based breath-hold phases interspersed with spontaneous breathing. - To evaluate the clinical applicability of Clarity (Anticosti) system for liver cases in healthy volunteers. The tracking results of healthy volunteers were compared to surface marker. - To evaluate the intrafraction motion during breath-hold in liver case by collecting and analyzing US monitoring data from some patients. Material and Methods The accuracy of Clarity (clinical version) system was evaluated using ultrasound phantom and some probe position. Two different probes were used: transabdominal ultrasound (TAUS) and transperineal ultrasound (TPUS) probe. Two positions of the phantom were used for TPUS, the vertical and the horizontal position. Intrafraction motion assessment of the prostate was based on continuous position monitoring with a 4D US system along the three directions; left(+)-right (LR), anterior(+)-posterior (AP), and inferior(+)-superior (SI). 770 US monitoring sessions in 38 prostate cancer patients’ normo-fractionated VMAT treatment series were retrospectively evaluated. The overall mean values and standard deviations (SD) along with random and systematic SDs were computed. The tracking accuracy of the research 4D US system was evaluated using two motion phantoms programmed with sinusoidal and breathing patterns to simulate free breathing and DIBH. The clinical performance was evaluated with 5 healthy volunteers. US datasets were acquired in computer-controlled DIBH with varying angular scanning angles. Tracked structures were renal pelvis (spherical structure) and portal/liver vein branches (non-spherical structure). An external marker was attached to the surface of both phantoms and volunteers as a secondary tracked object by an infrared camera for comparison. Residual intrafractional motion of DIBH tracking target relative to beginning position in each breath-hold plateau region was analysed along three directions; superior-inferior (SI), left-right (LR) and anterior-posterior (AP). 12 PTVs of 11 patients with primary/secondary liver tumours or adrenal gland/spleen metastases of diverse primaries were irradiated with SBRT in DIBH. Real time tracking of target or neighbouring surrogate structures was performed additionally using 4D US system during CBCT acquisition after permission of local IRB. Results The geometric positioning tolerance for Clarity-Sim and Clarity-Guide is 1 mm according to the manufacturer’s specifications. The results showed that all phantom and probe combinations met this criterion. The mean duration of each prostate monitoring session was 254s. The mean (μ), the systematic error () and the random error (σ) of intrafraction prostate motion were μ=(0.01, -0.08, 0.15)mm, =(0.30, 0.34, 0.23)mm and σ=(0.59, 0.73, 0.64)mm in LR, AP and SI direction, respectively. The percentage of treatments for which prostate motion was 2mm was present in about 0.67% of the data. The percentage increased to 2.42%, 6.14%, and 9.35% at 120s, 180s and 240s, respectively. The phantom measurements using Clarity (Anticosti) system showed increasing accuracy of US tracking with decreasing scanning range. The probability of lost tracking was higher for small scanning ranges (43.09% (10°) and 13.54% (20°)).The tracking success rates in healthy volunteers during DIBH were 93.24% and 89.86% for renal pelvis and portal vein branches, respectively. There was a strong correlation between the motion of the marker and the US tracking for the majority of analyzed breath-holds. 84.06% and 88.41% of renal pelvis target results and 82.26% and 91.94% of liver vein target results in AP and SI direction, the Pearson correlation coefficient was between 0.71 and 0.99. For evaluation of the intrafraction motion during breath-hold, 680 individual BHs during 93 treatment fractions were analysed. On visual control of tracking movies, target was lost in 27.9% of tracking, leaving a total of 490 BHs with optimal tracking. During these BHs, mean(+SD) target displacement were 1.7(+0.8)mm, 0.9(+0.4)mm, 2.2(+1.0)mm and 3.2(+1.0)mm for SI, LR, AP and 3D vector, respectively. Most of target displacement was below 2mm with percentage of 64.6%, 88.1% and 60.5% for SI, LR and AP, respectively. Data percentage of large target displacement increased with added BH time. At 5s, 3D vector of target displacement >10mm could be observed in 0.1% of data. Percentage values increased to 0.2%, 0.6%, and 1.1% at 10s, 15s and 20s, respectively. Conclusions The 4D US system offers a non-invasive method for online organ motion monitoring without additional ionizing radiation dose to the patient. The magnitudes of intrafraction prostate motion along the SI and AP directions were comparable. On average, the smallest motion was in the LR direction and the largest in AP direction. Most of the prostate displacements were within a few millimeters. However, with increased treatment time, larger 3D vector prostate displacements up to 18.30 mm could be observed. Shortening the treatment time can reduce the intrafractional motion and its effects and US monitoring can help to maximize treatment precision particularly in hypofractionated treatment regimens. For organ monitoring during BH application, the 4D US system showed a good performance and tracking accuracy in a 4D motion phantom when tracking a target that moves in accordance to a simulating breathing pattern. A 30°scanning range turned out to be an optimal parameter to track along with respiratory motion considering the accuracy of tracking and the possible loss of the tracked structure. The ultrasound tracking system is also applicable to a clinical setup with the tested hardware solution. The tracking capability of surrogate structures for upper abdominal lesions in DIBH is promising but needs further investigation in a larger cohort of patients. Ultrasound motion data show a strong correlation with surface motion data for most of individual breath-holds. Further improvement of the tracking algorithm is suggested to improve accuracy along with respiratory motion if using larger scanning angles for detection of high-amplitude motion and non-linear transformations of the tracking target. The exact quantification of residual motion impact requires an in-depth analysis of time spent at every position, nevertheless mean residual motion during DIBH is low and predominant direction is SI and AP. Only infrequently larger displacements of 3D vector >1 cm were observed, for short periods. Beam interruption at predefined thresholds could take DIBH treatments close to perfection. Key words: Medical Physics, 4D ultrasound, IGRT (image-guided radiotherapy), prostate motion, stereotactic body radiotherapy (SBRT), deep inspiratory breath-hold (DIBH)

Computer- and robot-assisted Medical Intervention

Medical robotics includes assistive devices used by the physician in order to make his/her diagnostic or therapeutic practices easier and more efficient. This chapter focuses on such systems. It introduces the general field of Computer-Assisted Medical Interventions, its aims, its different components and describes the place of robots in that context. The evolutions in terms of general design and control paradigms in the development of medical robots are presented and issues specific to that application domain are discussed. A view of existing systems, on-going developments and future trends is given. A case-study is detailed. Other types of robotic help in the medical environment (such as for assisting a handicapped person, for rehabilitation of a patient or for replacement of some damaged/suppressed limbs or organs) are out of the scope of this chapter.Comment: Handbook of Automation, Shimon Nof (Ed.) (2009) 000-00

Real-time intrafraction motion monitoring in external beam radiotherapy

© 2019 Institute of Physics and Engineering in Medicine. Radiotherapy (RT) aims to deliver a spatially conformal dose of radiation to tumours while maximizing the dose sparing to healthy tissues. However, the internal patient anatomy is constantly moving due to respiratory, cardiac, gastrointestinal and urinary activity. The long term goal of the RT community to 'see what we treat, as we treat' and to act on this information instantaneously has resulted in rapid technological innovation. Specialized treatment machines, such as robotic or gimbal-steered linear accelerators (linac) with in-room imaging suites, have been developed specifically for real-time treatment adaptation. Additional equipment, such as stereoscopic kilovoltage (kV) imaging, ultrasound transducers and electromagnetic transponders, has been developed for intrafraction motion monitoring on conventional linacs. Magnetic resonance imaging (MRI) has been integrated with cobalt treatment units and more recently with linacs. In addition to hardware innovation, software development has played a substantial role in the development of motion monitoring methods based on respiratory motion surrogates and planar kV or Megavoltage (MV) imaging that is available on standard equipped linacs. In this paper, we review and compare the different intrafraction motion monitoring methods proposed in the literature and demonstrated in real-time on clinical data as well as their possible future developments. We then discuss general considerations on validation and quality assurance for clinical implementation. Besides photon RT, particle therapy is increasingly used to treat moving targets. However, transferring motion monitoring technologies from linacs to particle beam lines presents substantial challenges. Lessons learned from the implementation of real-time intrafraction monitoring for photon RT will be used as a basis to discuss the implementation of these methods for particle RT

First steps Toward Ultrasound-Based Motion compensation for imaging and Therapy: calibration with an Optical system and 4D PeT imaging

Target motion, particularly in the abdomen, due to respiration or patient movement is still a challenge in many diagnostic and therapeutic processes. Hence, methods to detect and compensate this motion are required. Diagnostic ultrasound (US) represents a non-invasive and dose-free alternative to fluoroscopy, providing more information about internal target motion than respiration belt or optical tracking. The goal of this project is to develop an US-based motion tracking for real-time motion correction in radiation therapy and diagnostic imaging, notably in 4D positron emission tomography (PET). In this work, a workflow is established to enable the transformation of US tracking data to the coordinates of the treatment delivery or imaging system - even if the US probe is moving due to respiration. It is shown that the US tracking signal is equally adequate for 4D PET image reconstruction as the clinically used respiration belt and provides additional opportunities in this concern. Furthermore, it is demonstrated that the US probe being within the PET field of view generally has no relevant influence on the image quality. The accuracy and precision of all the steps in the calibration workflow for US tracking-based 4D PET imaging are found to be in an acceptable range for clinical implementation. Eventually, we show in vitro that an US-based motion tracking in absolute room coordinates with a moving US transducer is feasible

On the investigation of a novel x-ray imaging techniques in radiation oncology

Radiation therapy is indicated for nearly 50% of cancer patients in Australia. Radiation therapy requires accurate delivery of ionising radiation to the neoplastic tissue and pre-treatment in situ x-ray imaging plays an important role in meeting treatment accuracy requirements. Four dimensional cone-beam computed tomography (4D CBCT) is one such pre-treatment imaging technique that can help to visualise tumour target motion due to breathing at the time of radiation treatment delivery. Measuring and characterising the target motion can help to ensure highly accurate therapeutic x-ray beam delivery. In this thesis, a novel pre-treatment x-ray imaging technique, called Respiratory Triggered 4D cone-beam Computed Tomography (RT 4D CBCT), is conceived and investigated. Specifically, the aim of this work is to progress the 4D CBCT imaging technology by investigating the use of a patient’s breathing signal to improve and optimise the use of imaging radiation in 4D CBCT to facilitate the accurate delivery of radiation therapy. These investigations are presented in three main studies: 1. Introduction to the concept of respiratory triggered four dimensional conebeam computed tomography. 2. A simulation study exploring the behaviour of RT 4D CBCT using patientmeasured respiratory data. 3. The experimental realisation of RT 4D CBCT working in a real-time acquisitions setting. The major finding from this work is that RT 4D CBCT can provide target motion information with a 50% reduction in the x-ray imaging dose applied to the patient

Image guidance using 3D-ultrasound (3D-US) for daily positioning of lumpectomy cavity for boost irradiation

<p>Abstract</p> <p>Purpose</p> <p>The goal of this study was to evaluate the use of 3D ultrasound (3DUS) breast IGRT for electron and photon lumpectomy site boost treatments.</p> <p>Materials and methods</p> <p>20 patients with a prescribed photon or electron boost were enrolled in this study. 3DUS images were acquired both at time of simulation, to form a coregistered CT/3DUS dataset, and at the time of daily treatment delivery. Intrafractional motion between treatment and simulation 3DUS datasets were calculated to determine IGRT shifts. Photon shifts were evaluated isocentrically, while electron shifts were evaluated in the beam's-eye-view. Volume differences between simulation and first boost fraction were calculated. Further, to control for the effect of change in seroma/cavity volume due to time lapse between the 2 sets of images, interfraction IGRT shifts using the first boost fraction as reference for all subsequent treatment fractions were also calculated.</p> <p>Results</p> <p>For photon boosts, IGRT shifts were 1.1 ± 0.5 cm and 50% of fractions required a shift >1.0 cm. Volume change between simulation and boost was 49 ± 31%. Shifts when using the first boost fraction as reference were 0.8 ± 0.4 cm and 24% required a shift >1.0 cm. For electron boosts, shifts were 1.0 ± 0.5 cm and 52% fell outside the dosimetric penumbra. Interfraction analysis relative to the first fraction noted the shifts to be 0.8 ± 0.4 cm and 36% fell outside the penumbra.</p> <p>Conclusion</p> <p>The lumpectomy cavity can shift significantly during fractionated radiation therapy. 3DUS can be used to image the cavity and correct for interfractional motion. Further studies to better define the protocol for clinical application of IGRT in breast cancer is needed.</p

Respiratory organ motion in interventional MRI : tracking, guiding and modeling

Respiratory organ motion is one of the major challenges in interventional MRI, particularly in interventions with therapeutic ultrasound in the abdominal region. High-intensity focused ultrasound found an application in interventional MRI for noninvasive treatments of different abnormalities. In order to guide surgical and treatment interventions, organ motion imaging and modeling is commonly required before a treatment start. Accurate tracking of organ motion during various interventional MRI procedures is prerequisite for a successful outcome and safe therapy. In this thesis, an attempt has been made to develop approaches using focused ultrasound which could be used in future clinically for the treatment of abdominal organs, such as the liver and the kidney. Two distinct methods have been presented with its ex vivo and in vivo treatment results. In the first method, an MR-based pencil-beam navigator has been used to track organ motion and provide the motion information for acoustic focal point steering, while in the second approach a hybrid imaging using both ultrasound and magnetic resonance imaging was combined for advanced guiding capabilities. Organ motion modeling and four-dimensional imaging of organ motion is increasingly required before the surgical interventions. However, due to the current safety limitations and hardware restrictions, the MR acquisition of a time-resolved sequence of volumetric images is not possible with high temporal and spatial resolution. A novel multislice acquisition scheme that is based on a two-dimensional navigator, instead of a commonly used pencil-beam navigator, was devised to acquire the data slices and the corresponding navigator simultaneously using a CAIPIRINHA parallel imaging method. The acquisition duration for four-dimensional dataset sampling is reduced compared to the existing approaches, while the image contrast and quality are improved as well. Tracking respiratory organ motion is required in interventional procedures and during MR imaging of moving organs. An MR-based navigator is commonly used, however, it is usually associated with image artifacts, such as signal voids. Spectrally selective navigators can come in handy in cases where the imaging organ is surrounding with an adipose tissue, because it can provide an indirect measure of organ motion. A novel spectrally selective navigator based on a crossed-pair navigator has been developed. Experiments show the advantages of the application of this novel navigator for the volumetric imaging of the liver in vivo, where this navigator was used to gate the gradient-recalled echo sequence

A method for validating a transperineal ultrasound system for intrafraction monitoring of the prostate during external beam radiotherapy

Introduction: The Clarity Autoscan 40 transperineal ultrasound (TPUS) system (Eiekta, Sweden) for prostate motion management employs a vertically-oriented 20 ultrasound array that is continuously swept mechanically to repeatedly produce 30 images containing the prostate [1]. The target position relative to a pre-fraction reference scan is determined multiple times per second. Other investigators have studied the tracking accuracy of the system using displacements of ~1 0 mm from the initial normalisation point typical to a clinical treatment [1-4]. The primary aim of this work was to utilise clinically available equipment to compare the target positions reported by the Clarity Autoscan system to known target positions over the full imaging volume. A scanning dosimetry water tank was used, however refraction in the 20 mm PMMA wall of the tank presented a significant complication. The potential variation in target dose due to intervention based on the Clarity prostate motion management was also investigated. Method: A prostate analogue was mounted to the scanning mechanism of a MP3-XS scanning water tank "' (PTW, Germany). The Clarity probe was positioned externally against the wall of the scanning tank in the treatment orientation. The scanning mechanism was programmed to make in-plane, cross-plane and diagonal 'profiles' in the horizontal plane ranging approximately ±30 mm from the isocentre. Seven sets of these four 'profiles' were acquired between ±30 mm in the vertical direction yielding data throughout a 60 cm-sided cube centred on the isocentre. A bi-layer 30 refraction correction algorithm was derived to account for refraction caused by differences between the speed of sound in both PMMA and water from the speed of sound in soft tissue assumed by the Clarity system. The prostate analogue was then replaced with a Farmer-type ionisation chamber and monitored by the Clarity system during beam delivery. Programmed movements of the chamber triggered manual or automatic suspension of the beam and the resulting measured doses compared. Results: Without refraction correction the maximum difference in the reported positions from the programmed positions was 9.3 mm and the mean(±SD) difference was 4.0±1.8 mm. Refraction correction reduced this to a maximum of 3.4 mm, and a mean(±SD) of 1.0±0.5 mm. The worst results were at the peripheries of the imaged volume and near the transducer where the Clarity system had difficulty maintaining tracking due to narrowing of the swept imaging volume. At the lateral (left-right) and vertical (anterior-posterior) extremities, the prostate analogue images were visibly distorted which may have affected the accuracy of the Clarity centroid position calculation. There was no significant difference in measured dose between manual and automatic beam suspension in a 10x10 cm2 field when the target moved along the beam axis. Furthermore, there was only a minimal difference in measured dose to the centre of the 'prostate' between intervention and no intervention when the 'prostate' was programmed to move ±20 mm along the beam axis during a 180 MU 1 Ox1 0 cm2 field beam. However, it was found that there was a delay of 5.4±0.9 s between threshold crossing and beam suspension which could become significant at higher dose rates. Conclusions: The target positions reported by the Elekta Clarity Autoscan system can be validated using a programmable scanning water tank by employing a refraction correction if care is taken in the initial positioning of the transducer. Further improvement might be achieved by using a smaller target analogue and associated volume to reduce the effect of the refraction-induced distortion on the Clarity centroid calculation. Intervention following detected prostate motion along the beam axis will have minimal effect on the dose to the centre of the prostate; however, motion in any direction will compromise target coverage and dose minimisation to healthy tissue.Thesis (MPhil) -- University of Adelaide, School of Physical Sciences, 201

Ultrasound and photoacoustic methods for anatomic and functional imaging in image guided radiation therapy

(MATERIAL and METHODS) First, we define the physical principals and optimal protocols that provide contrast when imaging with US and the transducer properties contributing to resolution limits. The US field of view (FOV) was characterized to determine the optimal settings with regard to imaging depth, focal region, with and without harmonic imaging, and artifact identification. This will allow us to determine the minimum errors expected when registering multimodal volumes (CT, US, CBCT). Next, we designed an in-house integrated US manipulator and platform to relate CT, 3D-US and linear accelerator coordinate systems. To validate our platform, an agar-based phantom with measured densities and speed-of-sound consistent with tissues surrounding the bladder was fabricated. This phantom was rotated relative to the CT and US coordinate systems and imaged with both modalities. These CT and 3D-US images were imported into the treatment planning system, where US-to-US and US-to-CT images were co-registered and the registration matrix used to re-align the phantom relative to the linear accelerator. The measured precision in the phantom setup, which is defined by the standard deviation of the transformation matrix components, was consistent with and exceeding acceptable clinical patient re-alignments (2 mm). Statistical errors from US-US registrations for different patient orientations ranged from 0.06-1.66 mm for x, y, and z translational components, and 0.00-1.05 degrees for rotational components. Statistical errors from US-CT registrations were 0.23-1.18 mm for the x, y and z translational components, and 0.08-2.52 degrees for the rotational components. The high precision in the multimodal registrations suggest the ability to use US for patient positioning when targeting abdominal structures. We are now testing this on a dog patient to obtain both inter and intra-fractional positional errors. The objective of this experiment is to confirm Hill’s equation describing the relationship between hemoglobin saturation (SaO2) and the partial pressure of dissolved oxygen (pO2). The relationship is modeled as a sigmoidal curve that is a function of two parameters – the Hill coefficient, n, and the net association constant of HbO2, K (or pO2 at 50% SaO2). The goal is to noninvasively measure SaO2 in breast tumors in mice using photoacoustic computed tomographic (PCT) imaging and compare those measurements to a gold standard for pO2 using the OxyLite probe. First, a calibration study was performed to measure the SaO2 (co-oximeter) and pO2 (Oxylite probe) in blood using Hill’s equation (P50=23.2 mmHg and n=2.26). Next, non-invasive localized measurements of SaO2 in MDA-MD-231 and MCF7 breast tumors using PCT spectroscopic methods were compared to pO 2 levels using Oxylite probe. The fitted results for MCF7 and MDA-MD-231 data resulted in a P50 of 17.2 mmHg and 20.7 mmHg and a n of 1.76 and 1.63, respectively. The lower value of the P50 is consistent with tumors being more acidic than healthy tissue. Current work applying photon fluence corrections and image artifact reduction is expected to improve the quality of the results. In summary, this study demonstrates that photoacoustic imaging can be used to monitor tumor oxygenation, and its potential use to investigate the effectiveness of radiation therapy and the ability to adapt therapeutic protocols

Robot Autonomy for Surgery

Autonomous surgery involves having surgical tasks performed by a robot operating under its own will, with partial or no human involvement. There are several important advantages of automation in surgery, which include increasing precision of care due to sub-millimeter robot control, real-time utilization of biosignals for interventional care, improvements to surgical efficiency and execution, and computer-aided guidance under various medical imaging and sensing modalities. While these methods may displace some tasks of surgical teams and individual surgeons, they also present new capabilities in interventions that are too difficult or go beyond the skills of a human. In this chapter, we provide an overview of robot autonomy in commercial use and in research, and present some of the challenges faced in developing autonomous surgical robots