Enhanced Optical Head Tracking for Cranial Radiation Therapy: Supporting Surface Registration by Cutaneous Structures

Concept for Markerless 6D Tracking Employing Volumetric Optical Coherence Tomography

Optical tracking systems are widely used, for example, to navigate medical interventions. Typically, they require the presence of known geometrical structures, the placement of artificial markers, or a prominent texture on the target’s surface. In this work, we propose a 6D tracking approach employing volumetric optical coherence tomography (OCT) images. OCT has a micrometer-scale resolution and employs near-infrared light to penetrate few millimeters into, for example, tissue. Thereby, it provides sub-surface information which we use to track arbitrary targets, even with poorly structured surfaces, without requiring markers. Our proposed system can shift the OCT’s field-of-view in space and uses an adaptive correlation filter to estimate the motion at multiple locations on the target. This allows one to estimate the target’s position and orientation. We show that our approach is able to track translational motion with root-mean-squared errors below 0.25 mm and in-plane rotations with errors below 0.3°. For out-of-plane rotations, our prototypical system can achieve errors around 0.6°.

Efficient Registration of High-Resolution Feature Enhanced Point Clouds

We present a novel framework for rigid point cloud registration. Our approach is based on the principles of mechanics and thermodynamics. We solve the registration problem by assuming point clouds as rigid bodies consisting of particles. Forces can be applied between both particle systems so that they attract or repel each other. These forces are used to cause rigid-body motion of one particle system toward the other, until both are aligned. The framework supports physics-based registration processes with arbitrary driving forces, depending on the desired behaviour. Additionally, the approach handles feature-enhanced point clouds, e.g., by colours or intensity values. Our framework is freely accessible for download. In contrast to already existing algorithms, our contribution is to precisely register high-resolution point clouds with nearly constant computational effort and without the need for pre-processing, sub-sampling or pre-alignment. At the same time, the quality is up to 28 percent higher than for state-of-the-art algorithms and up to 49 percent higher when considering feature-enhanced point clouds. Even in the presence of noise, our registration approach is one of the most robust, on par with state-of-the-art implementations.

The Elekta Fraxion™ system is not suitable for maxillary fixation in canine conformal radiation therapy techniques

In this prospective, exploratory study, we evaluated the positioning accuracy in a group of 15 dogs undergoing fractionated stereotactic radiotherapy for tumors affecting the head, using a modified human maxillary fixation device (Elekta Fraxion™ system). Positioning was assessed using on-board volumetric imaging, with a six-degrees-of-freedom image registration technique. Prior to treatment delivery, CBCT images were obtained and patient alignment was corrected, in both translational and rotational planes, using a six-degrees-of-freedom robotic patient positioning system (HexaPOD Evo RT System). The maximum angular inter-fraction motions observed were 6.1° (yaw), 10.9° (pitch), and 4.5° (roll). The mean systematic translational errors were 4.7, 2.6, and 2.3 mm, mean random translational errors were 3.0, 2.2, and 2.5 mm, and mean overall translational errors were 2.4, 0.7, and 2.3 mm in the cranial-caudal, lateral, and dorsal-ventral directions, respectively. The mean systematic rotational errors were 1.17°, 0.77°, and 1.43°, the mean rotational random errors were 1.65°, 1.46°, and 1.34° and the mean overall rotational errors were 0.56°, 0.22°, and 0.29° in the yaw, pitch, and roll directions, respectively. The mean error of the three-dimensional vector was 6.9 mm with a standard deviation of 3.8 mm. Ninety-five percent of the three-dimensional vectors were <14.8 mm. This study demonstrates that this maxillary fixation device relies on six-degrees-of-freedom registration and an ability to apply corrections using a six-degrees-of-freedom couch for accurate patient positioning and tumor targeting. Its use in conformal radiation therapy in dogs is not recommended.