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Mozaffari MH, Lee WS. Freehand 3-D Ultrasound Imaging: A Systematic Review. ULTRASOUND IN MEDICINE & BIOLOGY 2017; 43:2099-2124. [PMID: 28716431 DOI: 10.1016/j.ultrasmedbio.2017.06.009] [Citation(s) in RCA: 28] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/04/2017] [Revised: 06/01/2017] [Accepted: 06/05/2017] [Indexed: 05/20/2023]
Abstract
Two-dimensional ultrasound (US) imaging has been successfully used in clinical applications as a low-cost, portable and non-invasive image modality for more than three decades. Recent advances in computer science and technology illustrate the promise of the 3-D US modality as a medical imaging technique that is comparable to other prevalent modalities and that overcomes certain drawbacks of 2-D US. This systematic review covers freehand 3-D US imaging between 1970 and 2017, highlighting the current trends in research fields, the research methods, the main limitations, the leading researchers, standard assessment criteria and clinical applications. Freehand 3-D US systems are more prevalent in the academic environment, whereas in clinical applications and industrial research, most studies have focused on 3-D US transducers and improvement of hardware performance. This topic is still an interesting active area for researchers, and there remain many unsolved problems to be addressed.
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Affiliation(s)
- Mohammad Hamed Mozaffari
- School of Electrical Engineering and Computer Science (EECS), University of Ottawa, Ottawa, Ontario, Canada.
| | - Won-Sook Lee
- School of Electrical Engineering and Computer Science (EECS), University of Ottawa, Ottawa, Ontario, Canada
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2
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A flexible ultrasound transducer array with micro-machined bulk PZT. SENSORS 2015; 15:2538-47. [PMID: 25625905 PMCID: PMC4367319 DOI: 10.3390/s150202538] [Citation(s) in RCA: 23] [Impact Index Per Article: 2.6] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 10/30/2014] [Accepted: 12/22/2014] [Indexed: 11/16/2022]
Abstract
This paper proposes a novel flexible piezoelectric micro-machined ultrasound transducer, which is based on PZT and a polyimide substrate. The transducer is made on the polyimide substrate and packaged with medical polydimethylsiloxane. Instead of etching the PZT ceramic, this paper proposes a method of putting diced PZT blocks into holes on the polyimide which are pre-etched. The device works in d31 mode and the electromechanical coupling factor is 22.25%. Its flexibility, good conformal contacting with skin surfaces and proper resonant frequency make the device suitable for heart imaging. The flexible packaging ultrasound transducer also has a good waterproof performance after hundreds of ultrasonic electric tests in water. It is a promising ultrasound transducer and will be an effective supplementary ultrasound imaging method in the practical applications.
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Voros S, Moreau-Gaudry A, Tamadazte B, Custillon G, Heus R, Montmasson MP, Giroud F, Gaiffe O, Pieralli C, Fiard G, Long JA, Descotes JL, Vidal C, Nguyen-Dinh A, Cinquin P. Devices and systems targeted towards augmented robotic radical prostatectomy. Ing Rech Biomed 2013. [DOI: 10.1016/j.irbm.2013.01.014] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.4] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/26/2022]
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Yang Y, Tian H, Yan B, Sun H, Wu C, Shu Y, Wang LG, Ren TL. A flexible piezoelectric micromachined ultrasound transducer. RSC Adv 2013. [DOI: 10.1039/c3ra44619k] [Citation(s) in RCA: 18] [Impact Index Per Article: 1.6] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/21/2022] Open
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Jain A, Deguet A, Iordachita I, Chintalapani G, Vikal S, Blevins J, Le Y, Armour E, Burdette C, Song D, Fichtinger G. Intra-operative 3D guidance and edema detection in prostate brachytherapy using a non-isocentric C-arm. Med Image Anal 2012; 16:731-43. [PMID: 21168357 PMCID: PMC4695983 DOI: 10.1016/j.media.2010.07.011] [Citation(s) in RCA: 9] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/14/2009] [Revised: 03/01/2010] [Accepted: 07/22/2010] [Indexed: 11/23/2022]
Abstract
PURPOSE Brachytherapy (radioactive seed insertion) has emerged as one of the most effective treatment options for patients with prostate cancer, with the added benefit of a convenient outpatient procedure. The main limitation in contemporary brachytherapy is faulty seed placement, predominantly due to the presence of intra-operative edema (tissue expansion). Though currently not available, the capability to intra-operatively monitor the seed distribution, can make a significant improvement in cancer control. We present such a system here. METHODS Intra-operative measurement of edema in prostate brachytherapy requires localization of inserted radioactive seeds relative to the prostate. Seeds were reconstructed using a typical non-isocentric C-arm, and exported to a commercial brachytherapy treatment planning system. Technical obstacles for 3D reconstruction on a non-isocentric C-arm include pose-dependent C-arm calibration; distortion correction; pose estimation of C-arm images; seed reconstruction; and C-arm to TRUS registration. RESULTS In precision-machined hard phantoms with 40-100 seeds and soft tissue phantoms with 45-87 seeds, we correctly reconstructed the seed implant shape with an average 3D precision of 0.35 mm and 0.24 mm, respectively. In a DoD Phase-1 clinical trial on six patients with 48-82 planned seeds, we achieved intra-operative monitoring of seed distribution and dosimetry, correcting for dose inhomogeneities by inserting an average of over four additional seeds in the six enrolled patients (minimum 1; maximum 9). Additionally, in each patient, the system automatically detected intra-operative seed migration induced due to edema (mean 3.84 mm, STD 2.13 mm, Max 16.19 mm). CONCLUSIONS The proposed system is the first of a kind that makes intra-operative detection of edema (and subsequent re-optimization) possible on any typical non-isocentric C-arm, at negligible additional cost to the existing clinical installation. It achieves a significantly more homogeneous seed distribution, and has the potential to affect a paradigm shift in clinical practice. Large scale studies and commercialization are currently underway.
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Affiliation(s)
- A Jain
- Johns Hopkins University, Baltimore, MD 21210, United States.
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6
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Zhang Q, Eagleson R, Peters TM. Volume visualization: a technical overview with a focus on medical applications. J Digit Imaging 2011; 24:640-64. [PMID: 20714917 DOI: 10.1007/s10278-010-9321-6] [Citation(s) in RCA: 42] [Impact Index Per Article: 3.2] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/19/2022] Open
Abstract
With the increasing availability of high-resolution isotropic three- or four-dimensional medical datasets from sources such as magnetic resonance imaging, computed tomography, and ultrasound, volumetric image visualization techniques have increased in importance. Over the past two decades, a number of new algorithms and improvements have been developed for practical clinical image display. More recently, further efficiencies have been attained by designing and implementing volume-rendering algorithms on graphics processing units (GPUs). In this paper, we review volumetric image visualization pipelines, algorithms, and medical applications. We also illustrate our algorithm implementation and evaluation results, and address the advantages and drawbacks of each algorithm in terms of image quality and efficiency. Within the outlined literature review, we have integrated our research results relating to new visualization, classification, enhancement, and multimodal data dynamic rendering. Finally, we illustrate issues related to modern GPU working pipelines, and their applications in volume visualization domain.
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Affiliation(s)
- Qi Zhang
- Imaging Research Laboratories, Robarts Research Institute, University of Western Ontario, London, ON, Canada.
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Fallavollita P, Aghaloo ZK, Burdette EC, Song DY, Abolmaesumi P, Fichtinger G. Registration between ultrasound and fluoroscopy or CT in prostate brachytherapy. Med Phys 2010; 37:2749-60. [PMID: 20632585 DOI: 10.1118/1.3416937] [Citation(s) in RCA: 20] [Impact Index Per Article: 1.4] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022] Open
Abstract
PURPOSE In prostate brachytherapy, transrectal ultrasound (TRUS) is used to visualize the anatomy, while implanted seeds can be visualized by fluoroscopy. Intraoperative dosimetry optimization is possible using a combination of TRUS and fluoroscopy, but requires localization of the fluoroscopy-derived seed cloud, relative to the anatomy as seen on TRUS. The authors propose to develop a method of registration of TRUS images and the implants reconstructed from fluoroscopy. METHODS A phantom was implanted with 48 seeds then imaged with TRUS and CT. Seeds were reconstructed from CT yielding a cloud of seeds. Fiducial-based ground-truth registration was established between the TRUS and CT. TRUS images are filtered, compounded, and registered to the reconstructed implants by using an intensity-based metric. The authors evaluated a volume-to-volume and point-to-volume registration scheme. In total, seven TRUS filtering techniques and three image similarity metrics were analyzed. The method was also tested on human subject data captured from a brachytherapy procedure. RESULTS For volume-to-volume registration, noise reduction filter and normalized correlation metrics yielded the best result: An average of 0.54 +/- 0.11 mm seed localization error relative to ground truth. For point-to-volume registration, noise reduction combined with beam profile filter and mean squares metrics yielded the best result: An average of 0.38 +/- 0.19 mm seed localization error relative to the ground truth. In human patient data, C-arm fluoroscopy images showed 81 radioactive seeds implanted inside the prostate. A qualitative analysis showed clinically correct agreement between the seeds visible in TRUS and reconstructed from intraoperative fluoroscopy imaging. The measured registration error compared to the manually selected seed locations by the clinician was 2.86 +/- 1.26 mm. CONCLUSIONS Fully automated registration between TRUS and the reconstructed seeds performed well in ground-truth phantom experiments and qualitative observation showed adequate performance on early clinical patient data.
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Affiliation(s)
- P Fallavollita
- School of Computing, Queen's University, Ontario K7L 3N6, Canada.
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Zhang Q, Eagleson R, Peters TM. Dynamic real-time 4D cardiac MDCT image display using GPU-accelerated volume rendering. Comput Med Imaging Graph 2009; 33:461-76. [DOI: 10.1016/j.compmedimag.2009.04.002] [Citation(s) in RCA: 20] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/18/2008] [Revised: 03/16/2009] [Accepted: 04/08/2009] [Indexed: 11/25/2022]
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Mitri FG, Davis BJ, Greenleaf JF, Fatemi M. In vitro comparative study of vibro-acoustography versus pulse-echo ultrasound in imaging permanent prostate brachytherapy seeds. ULTRASONICS 2009; 49:31-8. [PMID: 18538365 PMCID: PMC2828366 DOI: 10.1016/j.ultras.2008.04.008] [Citation(s) in RCA: 16] [Impact Index Per Article: 1.1] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/26/2008] [Revised: 04/08/2008] [Accepted: 04/11/2008] [Indexed: 05/13/2023]
Abstract
BACKGROUND Permanent prostate brachytherapy (PPB) is a common treatment for early stage prostate cancer. While the modern approach using trans-rectal ultrasound guidance has demonstrated excellent outcome, the efficacy of PPB depends on achieving complete radiation dose coverage of the prostate by obtaining a proper radiation source (seed) distribution. Currently, brachytherapy seed placement is guided by trans-rectal ultrasound imaging and fluoroscopy. A significant percentage of seeds are not detected by trans-rectal ultrasound because certain seed orientations are invisible making accurate intra-operative feedback of radiation dosimetry very difficult, if not impossible. Therefore, intra-operative correction of suboptimal seed distributions cannot easily be done with current methods. Vibro-acoustography (VA) is an imaging modality that is capable of imaging solids at any orientation, and the resulting images are speckle free. OBJECTIVE AND METHODS The purpose of this study is to compare the capabilities of VA and pulse-echo ultrasound in imaging PPB seeds at various angles and show the sensitivity of detection to seed orientation. In the VA experiment, two intersecting ultrasound beams driven at f(1)=3.00 MHz and f(2)=3.020 MHz respectively were focused on the seeds attached to a latex membrane while the amplitude of the acoustic emission produced at the difference frequency 20 kHz was detected by a low frequency hydrophone. RESULTS Finite element simulations and results of experiments conducted under well-controlled conditions in a water tank on a series of seeds indicate that the seeds can be detected at any orientation with VA, whereas pulse-echo ultrasound is very sensitive to the seed orientation. CONCLUSION It is concluded that vibro-acoustography is superior to pulse-echo ultrasound for detection of PPB seeds.
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Affiliation(s)
- F G Mitri
- Department of Physiology and Biomedical Engineering, Ultrasound Research Laboratory, Mayo Clinic, Rochester, MN 55905, United States.
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Lee JF, Hsieh MS, Kuo CW, Tsai MD, Ma M. REAL-TIME THREE-DIMENSIONAL RECONSTRUCTION FOR VOLUME-BASED SURGERY SIMULATIONS. BIOMEDICAL ENGINEERING: APPLICATIONS, BASIS AND COMMUNICATIONS 2008. [DOI: 10.4015/s1016237208000799] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
Abstract
This paper describes a three-dimensional reconstruction method to provide real-time visual responses for volume (constituted by tomographic slices) based surgery simulations. The proposed system uses dynamical data structures to record tissue triangles obtained from 3D reconstruction computation. Each tissue triangle in the structures can be modified or every structure can be deleted or allocated independently. Moreover, triangle reconstruction is optimized by only deleting or adding vertices from manipulated voxels that are classified as erosion (in which the voxels are changed from tissue to null) or generation (the voxels are changed from null to tissue). Therefore, by manipulating these structures, 3D reconstruction can be locally implemented for only manipulated voxels to achieve the highest efficiency without reconstructing tissue surfaces in the whole volume as general methods do. Three surgery simulation examples demonstrate that the proposed method can provide time-critical visual responses even under other time-consuming computations such as volume manipulations and haptic interactions.
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Affiliation(s)
- Jyh-Fa Lee
- Electro-Optical Section, Materials and Electro-Optics Research Division, Chung-Shan Institute of Science and Technology, Taiwan
| | - Ming-Shium Hsieh
- Department of Orthopaedics and Traumatology, and Orthopedics Research Center, Taipei Medical University Hospital, Taipei Medical University, Taiwan
| | - Chih-Wei Kuo
- Electro-Optical Section, Materials and Electro-Optics Research Division, Chung-Shan Institute of Science and Technology, Taiwan
| | - Ming-Dar Tsai
- Institute of Information and Computer Engineering, Chung Yuan Christian University, Taiwan
| | - Ming Ma
- Institute of Information and Computer Engineering, Chung Yuan Christian University, Taiwan
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Tutar IB, Gong L, Narayanan S, Pathak SD, Cho PS, Wallner K, Kim Y. Seed-based transrectal ultrasound-fluoroscopy registration method for intraoperative dosimetry analysis of prostate brachytherapy. Med Phys 2008; 35:840-8. [DOI: 10.1118/1.2836422] [Citation(s) in RCA: 15] [Impact Index Per Article: 0.9] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022] Open
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Su Y, Davis BJ, Furutani KM, Herman MG, Robb RA. Dosimetry accuracy as a function of seed localization uncertainty in permanent prostate brachytherapy: increased seed number correlates with less variability in prostate dosimetry. Phys Med Biol 2007; 52:3105-19. [PMID: 17505092 DOI: 10.1088/0031-9155/52/11/012] [Citation(s) in RCA: 25] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/11/2022]
Abstract
The variation of permanent prostate brachytherapy dosimetry as a function of seed localization uncertainty was investigated for I-125 implants with seed activities commonly employed in contemporary practice. Post-implant imaging and radiation dosimetry data from nine patients who underwent permanent prostate brachytherapy served as the source of clinical data for this simulation study. Gaussian noise with standard deviations ranging from 0.5 to 10 mm was applied to the seed coordinates for each patient dataset and 1000 simulations were performed at each noise level. Dose parameters, including D90, were computed for each case and compared with the actual dosimetry data. A total of 81 000 complete sets of post-brachytherapy dose volume statistics were computed. The results demonstrated that less than 5% deviation of prostate D90 can be expected when the seed localization uncertainty is 2 mm, whereas a seed localization uncertainty of 10 mm yielded an average decrease in D90 of 33 Gy. The mean normalized decrement in the prostate V100 was 10% at 5 mm uncertainty. Implants with greater seed number and larger prostate volume correlated with less sensitivity of D90 and V100 to seed localization uncertainty. Estimated target volume dose parameters tended to decrease with increasing seed localization uncertainty. The bladder V100 varied more significantly both in mean and standard deviation as compared to the urethra V100. A larger number of implanted seeds also correlated to less sensitivity of the bladder V100 to seed localization uncertainty. In contrast, the deviation of urethra V100 did not correlate with the number of implanted seeds or prostate volume.
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Affiliation(s)
- Yi Su
- Biomedical Imaging Resource, Mayo Clinic College of Medicine, Rochester, MN 55905, USA
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Choi HJ, Choi HK. Grading of renal cell carcinoma by 3D morphological analysis of cell nuclei. Comput Biol Med 2007; 37:1334-41. [PMID: 17331492 DOI: 10.1016/j.compbiomed.2006.12.008] [Citation(s) in RCA: 12] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/08/2006] [Revised: 12/10/2006] [Accepted: 12/13/2006] [Indexed: 10/23/2022]
Abstract
This study attempted to develop a method for 3D visualization and quantitative analysis of cell nuclei for renal cell carcinoma (RCC) grading and evaluated the feasibility of such quantitative analysis. We compared the correct classification rate (CCR) for each of the classifiers based on the 2D features of cell nuclei (diameter, area, perimeter, and circularity) and the 3D features of cell nuclei (volume, surface area, and spherical shape factor). The results showed that the classifier using the 3D features provided better results for grading. Our method could overcome the limitations inherent in 2D analysis and could improve the accuracy and reproducibility of quantification of cell nuclei.
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Affiliation(s)
- Hyun-Ju Choi
- BK21 Medical Science Education Center, School of Medicine, Pusan National University, Pusan, Republic of Korea
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Azab AK, Orkin B, Doviner V, Nissan A, Klein M, Srebnik M, Rubinstein A. Crosslinked chitosan implants as potential degradable devices for brachytherapy: in vitro and in vivo analysis. J Control Release 2006; 111:281-9. [PMID: 16499987 DOI: 10.1016/j.jconrel.2005.12.014] [Citation(s) in RCA: 71] [Impact Index Per Article: 3.9] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/18/2005] [Revised: 12/13/2005] [Accepted: 12/19/2005] [Indexed: 11/24/2022]
Abstract
Compared with conventional external beam radiation, brachytherapy offers a superior therapeutic regimen. However, some major constraints are associated with its implementation, including the need of complicated procedures for device placement and removal. The purpose of this study was to examine whether crosslinked chitosan (Ct) implants could serve as potential biodegradable devices for brachytherapy. Ct was reacted with increasing amounts of glutaraldehyde to obtain hydrogels with different crosslinking densities, which were characterized chemically, thermally and mechanically. The effect of the dialysis medium conditions (ionic strength, osmolarity and pH) on the gel hydration and in vivo degradation was assessed. Two types of implants, slow and fast degrading gel (SDG and FDG, respectively), were prepared and implanted with or without Sudan Black (SB) in the rat. While SDG withstood for over a month, the FDG degraded within two weeks after implantation. The release kinetics of SB from the hydrogels verified their in vivo degradation properties. The incorporation of the radioactive compound (131)I-norcholesterol ((131)I-NC) into the SDG altered the degradation kinetics of the gel as reflected by the release kinetics of the radioactive marker. Eighty percent of (131)I-NC was released within a month after implantation, after which time, radioactivity was detected in the regional lymph nodes. Histological examination of the tissues surrounding the implants demonstrated negligible tissue response to the implants, when compared to biodegradable surgical sutures. It is concluded that hydrogels made of crosslinked Ct are potential novel, safe, degradable devices for brachytherapy.
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Affiliation(s)
- Abdel Kareem Azab
- Department of Pharmaceutics, The Hebrew University of Jerusalem, School of Pharmacy, P.O. Box 12065, Jerusalem 91120, Israel
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Jain AK, Zhou Y, Mustufa T, Burdette EC, Chirikjian GS, Fichtinger G. Matching and reconstruction of brachytherapy seeds using the Hungarian algorithm (MARSHAL). Med Phys 2006; 32:3475-92. [PMID: 16372418 DOI: 10.1118/1.2104087] [Citation(s) in RCA: 36] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022] Open
Abstract
Intraoperative dosimetric quality assurance in prostate brachytherapy critically depends on discerning the three-dimensional (3D) locations of implanted seeds. The ability to reconstruct the implanted seeds intraoperatively will allow us to make immediate provisions for dosimetric deviations from the optimal implant plan. A method for seed reconstruction from segmented C-arm fluoroscopy images is proposed. The 3D coordinates of the implanted seeds can be calculated upon resolving the correspondence of seeds in multiple x-ray images. We formalize seed-matching as a combinatorial optimization problem, which has salient features: (a) extensively studied solutions by the computer science community; (b) proof for the nonexistence of any polynomial time exact algorithm; and (c) a practical pseudo-polynomial algorithm that mostly runs in O(N3) time using any number of images. We prove that two images are insufficient to correctly match the seeds, while a third image renders the matching problem to be of nonpolynomial complexity. We utilize the special structure of the problem and propose a pseudopolynomial time algorithm. Using three presegmented images, matching and reconstruction of brachytherapy seeds using the Hungarian algorithm achieved complete matching in simulation experiments; and 98.5% in phantom experiments. 3D reconstruction error for correctly matched seeds has a mean of 0.63 mm, and 0.9 mm for incorrectly matched seeds. The maximum seed reconstruction error in each implant was typically around 1.32 mm. Both on synthetic data and in phantom experiments, matching rate and reconstruction error achieved using presegmented images was found to be sufficient for prostate brachytherapy. The algorithm is extendable to deal with arbitrary number of images without any loss in speed or accuracy. The algorithm is sufficiently generic to provide a practical solution to any correspondence problem, across different imaging modalities and features.
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Affiliation(s)
- Ameet Kumar Jain
- Department of Computer Science, Johns Hopkins University, Baltimore, Maryland 21218, USA.
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French D, Morris J, Keyes M, Goksel O, Salcudean S. Computing intraoperative dosimetry for prostate brachytherapy using TRUS and fluoroscopy. Acad Radiol 2005; 12:1262-72. [PMID: 16179203 DOI: 10.1016/j.acra.2005.05.026] [Citation(s) in RCA: 19] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/16/2005] [Revised: 05/06/2005] [Accepted: 05/06/2005] [Indexed: 11/26/2022]
Abstract
RATIONALE AND OBJECTIVES There is a need to provide real-time dosimetric feedback during prostate brachytherapy based on the location of the implanted seeds. The objective of our approach is to develop a system to accurately locate seeds with minimal impact on the current protocol for prostate brachytherapy and without additional imaging equipment. MATERIALS AND METHODS A new approach for intraoperatively computing dosimetry for prostate brachytherapy is presented. The approach uses transrectal ultrasound (TRUS) and fluoroscopic images. A fluoroscopic image of the TRUS probe is required to register the fluoroscopic and ultrasound images. The C-arm is not moved during the procedure and all images are acquired from the same C-arm angles. A needle path is interpolated for each needle based on the location of the needle tip in TRUS images and the known entry point of the needle. Throughout the procedure, fluoroscopic images are acquired to determine the coronal plane coordinates of the seeds and the remaining coordinate of each seed is computed from the needle path. For accurate results, intraoperative seed motion tracking is advised and a method to achieve such tracking is also presented. RESULTS Experimentally, the TRUS and fluoroscopic images are registered with a mean and maximum error of 1.3 mm and 5.8 mm, respectively. In a phantom, 12 seeds are located using our approach and compared with the known locations, with a mean error in the x, y, and z direction of 0.96 mm, 0.33, and 0.68 mm, respectively, and a corresponding maximum error of 1.85 mm, 0.56 mm, and 1.63 mm. Experimental results show motion tracking in the y-direction with submillimeter accuracy. The feasibility of our approach is tested on five cases of clinical data using a semiautomated version of our system and the resulting dosimetry is compared with that found using postoperative computed tomography images. The D90 and V100 metrics computed using our approach and the computed tomography images differ by a maximum of 16.6% and 1.7%, respectively. CONCLUSIONS TRUS can be combined with single pose fluoroscopic images to compute delivered dose intraoperatively for prostate brachytherapy. Phantom results demonstrate the accuracy of the method and preliminary clinical results show its potential.
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Affiliation(s)
- Danny French
- University of British Columbia, Electrical and Computer Engineering, 2356 Main Mall, Vancouver, Vancouver, BC V6T 1Z4, Canada
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Su Y, Davis BJ, Herman MG, Manduca A, Robb RA. Examination of dosimetry accuracy as a function of seed detection rate in permanent prostate brachytherapy. Med Phys 2005; 32:3049-56. [PMID: 16266119 DOI: 10.1118/1.2012789] [Citation(s) in RCA: 23] [Impact Index Per Article: 1.2] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022] Open
Abstract
The variation of permanent prostate brachytherapy dosimetry as a function of seed detection rates was investigated for I125 implants with seed activities commonly employed in contemporary practice. Post-implant imaging and radiation dosimetry data from nine patients who underwent PPB served as the basis of this simulation study. One-thousand random configurations of detected seeds were generated for each patient dataset using various seed detection levels from 30% to 99%. Dose parameters, including D90, were computed for each configuration and compared with the actual dosimetry data. A total of 108 000 complete sets of post-PPB dose volume statistics were computed. The results demonstrated that although the average D90 differed from the true value by less than 5% when 70% or more seeds were identified, the D90 of an individual case could deviate up to 13%. The 95% confidence interval (CI) of estimated D90 values differ by less than 5% from the actual value when 95% or more seeds are detected, or approximately a 7 Gy difference in the D90 value for a prescription dose of 144 Gy. Estimated target volume dose parameters tended to decrease with reduced seed detection rates. The most variable dose parameter was the prostate V100 in absolute scale while the urethral V100 was most variable in a relative sense. Based on this comprehensive simulation study, it is suggested that 95% or more seeds need to be localized in order to provide an accurate estimation of dose parameters for contemporary iodine 125 permanent prostate brachytherapy.
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Affiliation(s)
- Yi Su
- Biomedical Imaging Resource, Department of Physiology and Biomedical Engineering, Mayo Clinic College of Medicine, Rochester, Minnesota 55905, USA
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Thompson MS, Johansson A, Johansson T, Andersson-Engels S, Svanberg S, Bendsoe N, Svanberg K. Clinical system for interstitial photodynamic therapy with combined on-line dosimetry measurements. APPLIED OPTICS 2005; 44:4023-31. [PMID: 16004049 DOI: 10.1364/ao.44.004023] [Citation(s) in RCA: 29] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/03/2023]
Abstract
A system for interstitial photodynamic therapy with delta-aminolaevulinic acid and multiple optical fibers has been developed. The system enables photodynamic treatment of large embedded tumor volumes and utilizes real-time measurements to allow on-line dosimetry. Important parameters such as light fluence rate, sensitizer fluorescence intensity, and changes in local blood oxygen saturation are measured with the same fibers that deliver the therapeutic light. Data from the first clinical treatments on nodular basal cell carcinomas indicate a major treatment-induced light absorption increase, rapid sensitizer photobleaching, and a relatively constant global tissue oxygen saturation level during the treatment.
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Affiliation(s)
- Marcelo Soto Thompson
- Department of Physics, Lund Institute of Technology, PO Box 118, SE-221 00 Lund, Sweden.
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Wu G, Wang L, Yu L, Wang H, Xuan JW. The Use of Three-Dimensional Ultrasound Micro-Imaging to Monitor Prostate Tumor Development in a Transgenic Prostate Cancer Mouse Model. TOHOKU J EXP MED 2005; 207:181-9. [PMID: 16210828 DOI: 10.1620/tjem.207.181] [Citation(s) in RCA: 13] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/18/2022]
Abstract
Longitudinal studies of mouse cancer models required large cohorts since autopsy was the only reliable method to evaluate treatment efficacy. This paper reports the use of high-resolution three-dimensional ultrasound micro-imaging to monitor prostate tumor development in genetically engineered mice. Twenty-nine genetically engineered prostate cancer mice, including castrated and uncastrated mice, were imaged by three-dimensional ultrasound. Qualitative comparisons of three-dimensional ultrasound images with histology sections of prostate tumors demonstrate the ability of ultrasound to accurately depict the size and shape of malignant masses in live mice. The correlation coefficient of tumor diameter measurements performed in vivo with three-dimensional ultrasound and at autopsy was 0.997. Prospective tumor detection sensitivity and specificity were 91.7% and 100%. Representative exponential growth curves constructed via longitudinal ultrasound imaging indicated diameter doubling times from 10 to 37 days for four prostate tumors during an initial period of rapid progression. Three-dimensional ultrasound will likely become the micro-imaging modality most readily adopted for mouse pre-clinical trial studies.
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Affiliation(s)
- Guojun Wu
- Department of Urology, Xi-jing Hospital, the Fourth Military Medical University, Xi'an.
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Petersch B, Hadwiger M, Hauser H, Hönigmann D. Real time computation and temporal coherence of opacity transfer functions for direct volume rendering of ultrasound data. Comput Med Imaging Graph 2004; 29:53-63. [PMID: 15710541 DOI: 10.1016/j.compmedimag.2004.09.013] [Citation(s) in RCA: 10] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/27/2004] [Accepted: 09/22/2004] [Indexed: 11/20/2022]
Abstract
Opacity transfer function (OTF) generation for direct volume rendering of medical image data is an intensely discussed subject. Several automatic methods exist for CT and MRI data, which are not apt for ultrasound data, mainly due to its low signal-to-noise ratio. Furthermore, ultrasound (US) imaging is able to produce time-varying 3D datasets in real time thus opening the door to 4D visualization. However, OTF design for 4D datasets has not been exhaustively discussed until now. We present an efficient solution to generate an optimized OTF for a given 3DUS dataset in real time. Our method results in excellent visualization which we demonstrate using 3D fetus datasets. Finally, we discuss the applicability of our method to 4DUS visualization.
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Affiliation(s)
- Bernhard Petersch
- Advanced Computer Vision GmbH (ACV), Tech Gate Vienna, Donau-City-Strasse 1, A-1220 Vienna, Austria.
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Solhjem MC, Davis BJ, Pisansky TM, Wilson TM, Mynderse LA, Herman MG, King BF, Geyer SM. Prostate volume measurement by transrectal ultrasound and computed tomography before and after permanent prostate brachytherapy. Int J Radiat Oncol Biol Phys 2004; 60:767-76. [PMID: 15465193 DOI: 10.1016/j.ijrobp.2004.04.015] [Citation(s) in RCA: 20] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/05/2003] [Revised: 03/19/2004] [Accepted: 04/02/2004] [Indexed: 10/26/2022]
Abstract
PURPOSE To quantify prostate volume (pvol) changes with transrectal ultrasound (TRUS) immediately after permanent prostate brachytherapy (PPB) and to correlate these changes with postimplant computed tomography (CT) volumetrics. To provide data relevant to evaluating the potential of TRUS-based image fusion for intraoperative dosimetry. METHODS AND MATERIALS Between July 2000 and January 2003, 177 patients underwent (125)I PPB monotherapy at our institution, and 165 patients provided research authorization. A total of 136 patients (82%) completed 4 imaging studies: planning TRUS, intraoperative pre- and postimplant TRUS, and CT. RESULTS Mean planning TRUS pvol was 38.7 +/- 11.7 cc standard deviation (SD), 95% confidence interval (CI) (36.7, 40.7). Mean intraoperative TRUS pvol preimplant was 37.1 +/- 11.7 cc SD, 95% CI (35.1, 39.0), and postimplant was 44.5 +/- 15.1 cc SD, 95% CI (42.0, 47.1). The mean ratio of postimplant:preimplant intraoperative TRUS pvols was 1.2 +/- 0.2 SD, 95% CI (1.18, 1.24), and the difference in mean values was 7.5 cc (p < 0.0001). CT performed within 1 day revealed a mean pvol of 47.9 +/- 15.7 cc SD, 95% CI (45.2, 50.5). The mean volumetric ratio of CT to postimplant TRUS pvol was 1.13 +/- 0.36, 95% CI (1.07-1.19). CONCLUSIONS Whereas mean preimplant step-section TRUS pvol measurements are similar, postimplant TRUS and CT measurements have greater variability that depend on initial pvol. CT-based pvol measurements determined a mean of 10.6 hours after implant were more likely to be identical to those of immediate postimplant TRUS in prostates >33 cc. These data are relevant for establishing accuracy in image-fusion based approaches being investigated for real-time intraoperative PPB dosimetry.
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Affiliation(s)
- Matthew C Solhjem
- Division of Radiation Oncology, Mayo Clinic College of Medicine, 200 First Street SW, Rochester, MN 55905, USA
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Davis BJ, Kinnick RR, Fatemi M, Lief EP, Robb RA, Greenleaf JF. Measurement of the ultrasound backscatter signal from three seed types as a function of incidence angle: application to permanent prostate brachytherapy. Int J Radiat Oncol Biol Phys 2003; 57:1174-82. [PMID: 14575850 DOI: 10.1016/s0360-3016(03)01566-9] [Citation(s) in RCA: 14] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/17/2022]
Abstract
PURPOSE To measure the relative ultrasound backscatter of different seed types as a function of seed orientation and to evaluate the corresponding images of these seeds. METHODS AND MATERIALS Three seed types were evaluated: OncoSeed (standard), EchoSeed (corrugated), and RAPID Strand(RS). Ultrasound images for angles of incidence varying from 90 degrees (perpendicular) to 20 degrees at 5MHz and 7.5MHz were produced by raster scanning the seeds in a degassed water bath. Seed images were visually inspected and analyzed using the integrated-optical-density (IOD) method. RESULTS Corrugated seeds appear as contiguous objects over the range of frequencies and orientations examined, whereas standard seeds appear as contiguous objects from 90 degrees to 80 degrees only. The ranges and means of the backscattered IOD ratio of the seeds from 85 degrees to 20 degrees were: (corrugated vs. standard) 1.48 to 3.72 (2.32 +/- 0.62) for 5 MHz and 1.26 to 3.77 (2.19 +/- 0.84) for 7.5 MHz and (corrugated vs. RS) 1.21 to 9.53 (2.98 +/- 2.48) for 5 MHz and 1.008 to 10.86 (2.79 +/- 3.08) for 7.5 MHz. Backscattered signal increase ranged from 1.66 dB to 20.7 dB for the corrugated seed as compared to the other seeds. CONCLUSIONS Corrugated seeds produce greater backscatter signal and a more readily identifiable seed image over a large range of seed orientation as compared with standard brachytherapy seeds.
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Affiliation(s)
- Brian J Davis
- Division of Radiation Oncology, Department of Physiology, Mayo Clinic and Mayo Foundation, Rochester, MN 55905, USA.
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