First implementation of an innovative infra-red camera system integrated into a mobile CBCT scanner for applicator tracking in brachytherapy-Initial performance characterization

Establishing an intraoperative, mobile CBCT-based workflow for gynecologic brachytherapy: primary experience and benefit assessment

Background and purpose

In the brachytherapy of cervical cancer, creating a suitable implant based on ultrasound guidance may be impacted by imaging limitations. To validate the implant if ultrasound is not sufficient, we implemented a new workflow utilizing additional intraoperative cone-beam computed tomography (CBCT). The aims of this work were to describe the newly established workflow, reflect associated (dis)advantages, and assess geometric and dosimetric benefits compared to the previous solely ultrasound-guided workflow.

Materials and methods

We report the establishment of our new workflow utilizing mobile CBCT during interventions and corresponding experiences for 26 consecutive patients. Image quality was assessed by considering the applicator visualization and contrast-noise ratio (CNR) between tissues. Implant changes based on CBCT scans were analyzed with respect to the enhanced insertion depths (EIDs) of needles and their tip distances to target volume borders. Dosimetric effects were evaluated by calculating common dose-volume parameters for target volume and organs at risk (OARs) and comparing them in both a previous patient cohort and scenarios simulating sole ultrasound guidance. Implant uncertainties between intra- and postoperative imaging were analyzed using a corresponding registration as well.

Results

Implementing intraoperative CBCT was associated with clinical challenges but increased safety feeling during interventions and resulted in geometric as well as dosimetric benefits. Needles could be shifted deeper into the pelvis by an EID of 14 ± 11 mm based on CBCT, associated with corresponding significant dose improvements for target volume and OARs with a mean tradeoff increase of up to 4.8 Gy. With a reasonable CNR between tissues up to 8.5 ± 3.6 and clear detectability of applicators, image quality was sufficient to fulfill intraoperative intentions. Furthermore, the CBCT scans were suitable for treatment planning purposes from a geometric uncertainty perspective.

Conclusion

The implementation of intraoperative CBCT can substantially improve the quality and safety of image-guided gynecologic brachytherapy.

Robotic CBCT meets robotic ultrasound

PURPOSE

The multi-modality imaging system offers optimal fused images for safe and precise interventions in modern clinical practices, such as computed tomography-ultrasound (CT-US) guidance for needle insertion. However, the limited dexterity and mobility of current imaging devices hinder their integration into standardized workflows and the advancement toward fully autonomous intervention systems. In this paper, we present a novel clinical setup where robotic cone beam computed tomography (CBCT) and robotic US are pre-calibrated and dynamically co-registered, enabling new clinical applications. This setup allows registration-free rigid registration, facilitating multi-modal guided procedures in the absence of tissue deformation.

METHODS

First, a one-time pre-calibration is performed between the systems. To ensure a safe insertion path by highlighting critical vasculature on the 3D CBCT, SAM2 segments vessels from B-mode images, using the Doppler signal as an autonomously generated prompt. Based on the registration, the Doppler image or segmented vessel masks are then mapped onto the CBCT, creating an optimally fused image with comprehensive detail. To validate the system, we used a specially designed phantom, featuring lesions covered by ribs and multiple vessels with simulated moving flow.

RESULTS

The mapping error between US and CBCT resulted in an average deviation of 1.72 ± 0.62 mm. A user study demonstrated the effectiveness of CBCT-US fusion for needle insertion guidance, showing significant improvements in time efficiency, accuracy, and success rate. Needle intervention performance improved by approximately 50% compared to the conventional US-guided workflow.

CONCLUSION

We present the first robotic dual-modality imaging system designed to guide clinical applications. The results show significant performance improvements compared to traditional manual interventions.

Initial needle tracking with the first standalone combined infrared camera - CT system for brachytherapy-analysis of tracking accuracy and uncertainties

PURPOSE

A prototype infrared camera - cone-beam computed tomography (CBCT) system for tracking in brachytherapy has recently been developed. We evaluated for the first time the corresponding tracking accuracy and uncertainties, and implemented a tracking-based prediction of needles on CBCT scans.

METHODS

A marker tool rigidly attached to needles was 3D printed. The precision and accuracy of tool tracking was then evaluated for both static and dynamic scenarios. Euclidean distances between the tracked and CBCT-derived markers were assessed as well. To implement needle tracking, ground truth models of the tool attached to 200 mm and 160 mm needles were matched to the tracked positions in order to project the needles into CBCT scans. Deviations between projected and actual needle tips were measured. Finally, we put our results into perspective with simulations of the system's tracking uncertainties.

RESULTS

For the stationary scenario and dynamic movements, we achieved tool-tracking precision and accuracy of 0.04 ± 0.06 mm and 0.16 ± 0.18 mm, respectively. The tracked marker positions differed by 0.52 ± 0.18 mm from the positions determined via CBCT. In addition, the predicted needle tips in air deviated from the actual tip positions by only 1.62 ± 0.68 mm (200 mm needle) and 1.49 ± 0.62 mm (160 mm needle). The simulated tracking uncertainties resulted in tip variations of 1.58 ± 0.91 mm and 1.31 ± 0.69 mm for the 200 mm and 160 mm needles, respectively.

CONCLUSION

With the innovative system it was possible to achieve a high tracking and prediction accuracy of marker tool and needles. The system shows high potential for applicator tracking in brachytherapy.

Is model-based dose calculation based on cone-beam computed tomography suitable for adaptive treatment planning in brachytherapy?

BACKGROUND AND PURPOSE

Model-based dose calculation considering tissue compositions is increasingly being investigated in brachytherapy. The aim of this study was to assess the suitability of modern cone-beam computed tomography (CBCT) imaging compared to conventional computed tomography (CT) scans for this purpose.

MATERIALS AND METHODS

By means of a phantom study, we evaluated the CT numbers and electron densities measured using a modern CBCT device as well as a conventional CT scanner for various materials. Based on this, we compared dose calculations (using the TG-43 formalism as well as model-based collapsed cone calculations assuming uniform materials [ACEuniform] and considering CT numbers [ACECT#]) on planning CTs and control CBCTs for patients with cervical and breast cancer as well as phantom-simulated skin cancer cases. Assessing dosimetric deviations between the planning CTs and control CBCTs acquired during the treatment course served to estimate interfractional implant variations.

RESULTS

The comparison of ACEuniform-ACECT# deviations between planning CTs and control CBCTs revealed no statistically significant difference for almost all examined dose parameters. Dosimetric deviations between model-based dose calculations and TG-43 were partly significant but of small magnitude (< 10 cGy per fraction). Interfractional dosimetric variations were substantially larger than the dosimetric differences found between the various dose calculation procedures.

CONCLUSION

Model-based dose calculation based on modern CBCT imaging was suitable. However, the found differences between these calculations and the TG-43 formalism should be investigated in dose-outcome analyses. The observed interfractional dosimetric variations revealed the importance of performing treatment quality assurance.