Intra-Operative Needle Tracking Using Optical Shape Sensing Technology

RÉSUMÉ Contexte : Les métastases hépatiques colorectales sont la principale cause de décès liée au cancer du foie dans le monde. Au cours de la dernière décennie, il a été démontré que l’ablation par radiofréquence (RFA, pour radiofrequency ablation) est une méthode de traitement percutané très efficace contre ce type de métastases. Cela dit, un positionnement précis de l’embout de l’aiguille utilisé en RFA est essentiel afin de se départir adéquatement de la totalité des cellules cancéreuses. Une technologie prometteuse pour obtenir la forme et la position de l’aiguille en temps réel est basée sur l’utilisation de réseaux de Bragg (FBG, pour fiber Bragg grating) à titre de senseur de contrainte. En effet, ce type de senseurs a une vitesse d’acquisition allant jusqu’à 20 kHz, ce qui est suffisamment rapide pour permettre des applications de guidage en temps réel. Méthode : Les travaux présentés au sein de ce mémoire décrivent le développement d’une technologie, compatible aux systèmes d’imageries par résonance magnétique (IRM), permettant d’effectuer le suivi de la forme de l’aiguille utilisée en RFA. Premièrement, trois fibres contenant une série de réseaux de Bragg ont été collées dans une géométrie spécifique et intégrées à l’intérieur d’une aiguille 20G-150 mm. Ensuite, un algorithme de reconstruction de forme tridimensionnelle a été développé, basé sur les mesures de translation spectrales des FBGs acquises en temps réel durant le guidage de l’aiguille. La position du bout de l’aiguille ainsi que la forme tridimensionnelle complète de celle-ci ont été représentées et comparées à la position de la zone ciblée à la suite d’une simple méthode de calibration. Finalement, nous avons validé notre système de navigation en effectuant une série d’expériences in vitro. La précision du système de reconstruction tridimensionnelle de la forme et de l’orientation de l’aiguille a été évaluée en utilisant deux caméras positionnées perpendiculairement de manière à connaitre la position de l’aiguille dans le système d’axes du laboratoire. L’évaluation de la précision au bout de l’aiguille a quant à elle été faite en utilisant des fantômes précisément conçus à cet effet. Finalement, des interventions guidées en IRM ont été testées et comparées au système de navigation électromagnétique NDI Aurora (EMTS, pour Electromagnétic tracking system) par le biais du FRE (fiducial registration error) et du TRE (target registration error). Résultats: Lors de nos premières expériences in vitro, la précision obtenue quant à la position du bout de l’aiguille était de 0,96 mm pour une déflexion allant jusqu’à ±10,68 mm. À titre comparatif, le système d’Aurora a une précision de 0.84 mm dans des circonstances similaires. Les résultats obtenus lors de nos seconds tests ont démontré que l’erreur entre la position réelle du bout de l’aiguille et la position fournie par notre système de reconstruction de forme est de 1,04 mm, alors qu’elle est de 0,82 mm pour le EMTS d’Aurora. Pour ce qui est de notre dispositif, cette erreur est proportionnelle à l’amplitude de déflexion de l’aiguille, contrairement à l’EMTS pour qui l’erreur demeure relativement constante. La dernière expérience a été effectuée à l’aide d’un fantôme en gélatine, pour laquelle nous avons obtenu un TRE de 1,19 mm pour notre système basé sur les FBG et de 1.06 mm pour le système de navigation par senseurs électromagnétiques (EMTS). Les résultats démontrent que l’évaluation du FRE est similaire pour les deux approches. De plus, l’information fournie par les caméras permet d’estimer la précision de notre dispositif en tout point le long de l’aiguille. Conclusion : En analysant et en interprétant les résultats obtenus lors de nos expériences in vitro, nous pouvons conclure que la précision de notre système de navigation basé sur les FBG est bien adaptée pour l’évaluation de la position du bout et la forme de l’aiguille lors d’interventions RFA des tumeurs du foie. La précision de notre système de navigation est fortement comparable avec celle du système basé sur des senseurs électromagnétiques commercialisé par Aurora. L’erreur obtenue par notre système est attribuable à un mauvais alignement des réseaux de Bragg par rapport au plan associé à la région sensorielle et aussi à la différence entre le diamètre des fibres et celui de la paroi interne de l’aiguille.----------ABSTRACT Background: Colorectal liver metastasis is the leading cause of liver cancer death in the world. In the past decade, radiofrequency ablation (RFA) has proven to be an effective percutaneous treatment modality for the treatment of metastatic hepatic cancer. Accurate needle tip placement is essential for RFA of liver tumors. A promising technology to obtain the real-time information of the shape of the needle is by using fiber Bragg grating (FBG) sensors at high frequencies (up to 20 kHz). Methods: In this thesis work, we developed an MR-compatible needle tracking technology designed for RFA procedures in liver cancer. At first, three fibers each containing a series of FBGs were glued together and integrated inside a 20G-150 mm needle. Then a three-dimensional needle shape reconstruction algorithm was developed, based on the FBG measurements collected in real-time during needle guidance. The tip position and shape of the reconstructed 3D needle model were represented with respect to the target defined in the image space by performing a fiducial-based registration. Finally, we validated our FBG-based needle navigation by doing a series of in-vitro experiments. The shape of the 3D reconstructed needle was compared to measurements obtained from camera images. In addition, the needle tip accuracy was assessed on the ground-truth phantoms. Finally, MRI guided intervention was tested and compared to an NDI Aurora EM tracking system (EMTS) in terms of fiducial registration error (FRE) and target registration error (TRE). Results: In our first in-vitro experiment, the tip tracking accuracy of our FBG tracking system was of 0.96 mm for the maximum tip deflection of up to ±10.68 mm, while the tip tracking accuracy of the Aurora system for the similar test was 0.84 mm. Results obtained from the second in-vitro experiment demonstrated tip tracking accuracy of 1.04 mm and 0.82 mm for our FBG tracking system and Aurora EMTS, respectively for the maximum tip deflection of up to ±16.83 mm. The tip tracking error in the developed FBG-based system reduced linearly with decreasing tip deflection, while the error was similar but randomly varying for the EMTS. The last experiment was done with a gel phantom, yielding a TRE of 1.19 mm and 1.06 mm for the FBG and EM tracking, respectively. Results showed that across all experiments, the computed FRE of both tracking systems was similar. Moreover, actual shape information obtained from the camera images ensured the shape accuracy of our FBG-based needle shape model. Conclusion: By analyzing and interpreting the results obtained from the in-vitro experiments, we conclude that the accuracy of our FBG-based tracking system is suitable for needle tip detection in RFA of liver tumors. The accuracy of our tracking system is nearly comparable to that of the Aurora EMTS. The error given by our tracking system is attributed to the misalignment of the FBG sensors in a single axial plane and also to the gap between the needle's inner wall and the fibers inside

Renal Cryoablation: Investigation of Periprocedural Visualization Tools and Treatment Response Quantification

Cryoablation for small renal tumors has demonstrated sufficient clinical efficacy over the past decade as a non-surgical nephron-sparing approach for treating renal masses for patients who are not surgical candidates. Minimally invasive percutaneous cryoablations have been performed with image guidance from CT, ultrasound, and MRI. During the MRI-guided cryoablation procedure, the interventional radiologist visually compares the iceball size on monitoring images with respect to the original tumor on separate planning images. The comparisons made during the monitoring step are time consuming, inefficient and sometimes lack the precision needed for decision making, requiring the radiologist to make further changes later in the procedure. This study sought to mitigate uncertainty in these visual comparisons by quantifying tissue response to cryoablation and providing visualization of the response during the procedure. Based on retrospective analysis of MR-guided cryoablation patient data, registration and segmentation algorithms were investigated and implemented for periprocedural visualization to deliver iceball position/size with respect to planning images registered within 3.3mm with at least 70% overlap and a quantitative logit model was developed to relate perfusion deficit in renal parenchyma visualized in verification images as a result of iceball size visualized in monitoring images. Through retrospective study of 20 patient cases, the relationship between likelihood of perfusion loss in renal parenchyma and distance within iceball was quantified and iteratively fit to a logit curve. Using the parameters from the logit fit, the margin for 95% perfusion loss likelihood was found to be 4.28 mm within the iceball. The observed margin corresponds well with the clinically accepted margin of 3-5mm within the iceball. In order to display the iceball position and perfusion loss likelihood to the radiologist, algorithms were implemented to create a fast segmentation and registration module which executed in under 2 minutes, within the clinically-relevant 3 minute monitoring period. Using 16 patient cases, the average Hausdorff distance was reduced from 10.1mm to 3.21 mm with average DSC increased from 46.6% to 82.6% before and after registration

Brachytherapy

Importance of brachytherapy is currently increasing in cancer therapy. In brachytherapy each treatment is best fitted by physician's' hand, and appropriate arrangement and selection of radiation sources facilitates the fitting. This book is full of essences to make a breakthrough in radiation oncology by brachytherapy. I hope this book will encourage all people related. Contents 1: problem of currently popular dosimetric method; 2: Monte Carlo dose simulation of ruthenim-106/rhodium-106 eyes applicators; 3. Progress in Californium-252 neutron brachytherapy; 4. Clinical aspect of endobronchial brachytherapy in central airway tumor obstruction; 5. Review from principle and techniques of Iodine-125 production at nuclear reactor plant to their clinical practive in prostate cancer treatment; 6. Stereotactic Brachytherapy for Brain Tumors using Iodine-125 seed; 7. A brachytherapy procedure with organ-sparing hyaluronate gel injection for safe and eradicative reirradiation

ULTRASOUND IMAGING OF SYNOVITIS: RELATIONSHIP TO PATHOBIOLOGY AND RESPONSE TO THERAPY

PhdUltrasound (US) imaging has made significant progress over the past 20 years in relation to its role in inflammatory arthritis, and in particular, Rheumatoid Arthritis. Modern US machines provide crisp, detailed images of superficial anatomical structures which has facilitated the uptake of US imaging as an important assessment tool within the Rheumatology department. Diagnostic and prognostic information can now assist clinicians decisions with the goal of improving patient treatment and subsequent outcome. In addition, 3D US imaging has recently been suggested as an additional imaging modality with potential benefits in the assessment of in?ammatory arthritis. Recent work has focused on providing a reliable, responsive US joint count which can be assimilated into routine care as well as providing a platform for clinical research. Thus, my first aim was to show that a defined limited US data set, including 2D and 3D imaging, shows acceptable reliability. I demonstrate that both imaging modalities are reliable in terms of reading and image acquisition when restricted to a limited US data set. My second aim, was to demonstrate that a limited US data set is responsive. Using both a physiological and pharmacological trigger, I demonstrate that both 2D and 3D imaging are responsive and that combining US endpoints with DAS28 (Disease Activity Score - 28) increased the effect size and identifies treatment effects early. Despite notable advances in musculoskeletal US research, there is still need for better understanding of the pathophysiological correlates of ultrasound imaging. Therefore my final aim was to examine the relationship of Power Doppler Signal (PDS) and gray-scale synovial thickening with histological features of synovitis at a single joint level and with an extended joint US data set. I Firstly show that the harvesting of synovial tissue, using a minimally invasive US-guided biopsy technique, is safe and well tolerated by patients and that the quality of tissue and RNA extracted is good. Using this tissue collection method, I demonstrate a good correlation of US and histological parameters of synovitis (specifically CD68+ sub-lining macrophages) at a single joint level, in both an early and established RA cohort. This relationship is maintained if the US assessment is extended to a discrete US joint data set. Furthermore, within the knee joint I demonstrated that PDS correlates well with synovial tissue expression of inflammatory mediators of neoangiogenesis and histological assessment of synovial vascular area

Hepatocellular Carcinoma

This book covers the clinical aspects of hepatocellular carcinoma. This book is a compendium of papers written by experts from different parts of the world to present the most up-to-date knowledge on the clinical aspects of hepatocellular carcinoma. This book is divided into three sections: (I) Diagnosis / Differential Diagnosis; (II) Surgical Treatment; (III) Non-surgical Treatment. There are 19 chapters covering topics from novel diagnostic methods to hepatic lesions mimicking hepatocellular carcinoma, from laparoscopic liver resection to major hepatectomy without allogeneic blood transfusion, from molecular targeted therapy to transarterial radioembolization, and from local ablative therapy to regional therapy. This volume is an important contribution to the clinical management of patients with hepatocellular carcinoma. The intended readers of this book are clinicians who are interested in hepatocellular carcinoma, including hepatologists, liver surgeons, interventional and diagnostic radiologists, pathologists and epidemiologists. General surgeons, general physicians, trainees, hospital administrators, and instruments and drug manufacturers will also find this book useful as a reference

Validation Strategies Supporting Clinical Integration of Prostate Segmentation Algorithms for Magnetic Resonance Imaging

Segmentation of the prostate in medical images is useful for prostate cancer diagnosis and therapy guidance. However, manual segmentation of the prostate is laborious and time-consuming, with inter-observer variability. The focus of this thesis was on accuracy, reproducibility and procedure time measurement for prostate segmentation on T2-weighted endorectal magnetic resonance imaging, and assessment of the potential of a computer-assisted segmentation technique to be translated to clinical practice for prostate cancer management. We collected an image data set from prostate cancer patients with manually-delineated prostate borders by one observer on all the images and by two other observers on a subset of images. We used a complementary set of error metrics to measure the different types of observed segmentation errors. We compared expert manual segmentation as well as semi-automatic and automatic segmentation approaches before and after manual editing by expert physicians. We recorded the time needed for user interaction to initialize the semi-automatic algorithm, algorithm execution, and manual editing as necessary. Comparing to manual segmentation, the measured errors for the algorithms compared favourably with observed differences between manual segmentations. The measured average editing times for the computer-assisted segmentation were lower than fully manual segmentation time, and the algorithms reduced the inter-observer variability as compared to manual segmentation. The accuracy of the computer-assisted approaches was near to or within the range of observed variability in manual segmentation. The recorded procedure time for prostate segmentation was reduced using computer-assisted segmentation followed by manual editing, compared to the time required for fully manual segmentation

Health economic aspects to the adoption of MR-HIFU for patients with bone metastases

Bone metastases is a common consequence of advanced cancer that is usually associated with pain, impaired mobility, and reduced overall quality of life. External Beam Radiotherapy (EBRT) is the current standard of care; however, it might take four weeks to induce pain relief. Moreover, 50% of patient recur pain after initial response to EBRT, and reirradiation is limited due to the risk of cumulative doses harming surrounding structures. Magnetic Resonance image-guided High-Intensity Focused Ultrasound (MR-HIFU) is an emerging non-invasive procedure that can provide significant and rapid pain palliation for patients with bone metastases with a favorable safety profile. Thus, the FURTHER project aims to evaluate the effectiveness of MR-HIFU to pain palliation of painful bone metastases compared to the EBRT in a randomized controlled trial. In addition to evidence on effectiveness of MR-HIFU, health economic evidence was needed to support adoption of MR-HIFU in Europe. This cumulative dissertation comprises three dissertation subprojects. The first subproject describes a time-driven activity-based costing approach to determine the costs of the MR-HIFU from the hospital perspective. The second subproject consists of an early economic modelling study that aimed to evaluate the cost-effectiveness of MR-HIFU compared to EBRT from the perspective of the German Statutory Health Insurance (SHI). The third subproject consists of a mixed-method participatory research with the objective to investigate contextual factors influencing the adoption of MR-HIFU for treatment of bone metastases in Europe. Based on results of the three subprojects, three main conclusions follow. First, adoption of MR-HIFU would benefit greatly from improvements to the care pathway, which would reduce costs of MR-HIFU, and subsequently impact the cost-effectiveness in relation to EBRT. Second, although still in early phase of implementation, MR-HIFU is potentially cost effective for patients with bone metastases and further research is worthwhile to better inform the decision whether to adopt MR-HIFU as a treatment alternative in the German SHI. Third, to ensure successful adoption of MR-HIFU, several contextual factors have to be addressed strategically, such as hospital referral, logistics and patients’ preferences. MR-HIFU is a promising treatment strategy for patients with painful bone metastases. Although clinical evidence on the effectiveness of MR-HIFU is still needed, the health economic evidence generated in this cumulative dissertation provides strong impetus for the adoption of MR-HIFU in clinical practice