Intraoperative dynamic dosimetry for prostate implants

Prostate brachytherapy intraoperative dosimetry using a combination of radiographic seed localization with a C-arm and deformed ultrasound prostate contours

PURPOSE

The purpose of the study was to assess the feasibility of performing intraoperative dosimetry for permanent prostate brachytherapy by combining transrectal ultrasound (TRUS) and fluoroscopy/cone beam CT [CBCT] images and accounting for the effect of prostate deformation.

METHODS AND MATERIALS

13 patients underwent TRUS and multiview two-dimensional fluoroscopic imaging partway through the implant, as well as repeat fluoroscopic imaging with the TRUS probe inserted and retracted, and finally three-dimensional CBCT imaging at the end of the implant. The locations of all the implanted seeds were obtained from the fluoroscopy/CBCT images and were registered to prostate contours delineated on the TRUS images based on a common subset of seeds identified on both image sets. Prostate contours were also deformed, using a finite-element model, to take into account the effect of the TRUS probe pressure. Prostate dosimetry parameters were obtained for fluoroscopic and CBCT-dosimetry approaches and compared with the standard-of-care Day-0 postimplant CT dosimetry.

RESULTS

High linear correlation (R² > 0.8) was observed in the measured values of prostate D_90%, V_100%, and V_150%, between the two intraoperative dosimetry approaches. The prostate D_90% and V_100% obtained from intraoperative dosimetry methods were in agreement with the postimplant CT dosimetry. Only the prostate V_150% was on average 4.1% (p-value <0.05) higher in the CBCT-dosimetry approach and 6.7% (p-value <0.05) higher in postimplant CT dosimetry compared with the fluoroscopic dosimetry approach. Deformation of the prostate by the ultrasound probe appeared to have a minimal effect on prostate dosimetry.

CONCLUSIONS

The results of this study have shown that both of the proposed dosimetric evaluation approaches have potential for real-time intraoperative dosimetry.

Radiation safety of receptive anal intercourse with prostate cancer patients treated with low-dose-rate brachytherapy

PURPOSE

Prostate low-dose-rate (LDR) brachytherapy involves implantation of radioactive seeds permanently into the prostate gland. During receptive anal intercourse, the penis of the partner may come in close proximity to the implanted prostate gland. We estimate the potential intrarectal dose rates and suggest guidance on radiation precautions.

METHODS AND MATERIALS

One hundred two patients were included in the study. After implantation, with patients under anesthesia in the dorsal lithotomy position, a new set of ultrasound (US) images and a CT scan were obtained. The images were fused, radioactive seeds and US probe locations were determined on the CT, and prostate, bladder, and rectal contours were drawn on the US. Dose rates (cGy/h) were calculated for the portion of the US probe spanning the prostate for several dose-volume histogram parameters.

RESULTS

Twenty patients were treated with (125)I and 82 patients with (103)Pd. Average dose rates at Day 0 to the portion of the US probe spanning the prostate were 2.1 ± 1.3 cGy/h and 2.5 ± 0.8 cGy/h for patients treated with (125)I and (103)Pd, respectively. After 60 days, average calculated probe dose drops to 1.0 ± 0.6 cGy/h and 0.2 ± 0.1 cGy/h for (125)I and (103)Pd, respectively.

CONCLUSIONS

During the immediate weeks after prostate seed implant, the estimated intrarectal dose rates are higher in (103)Pd compared to (125)I. As (103)Pd decays faster than (125)I, 2 months after the implant, radiation exposure from (103)Pd becomes lower than (125)I. Receptive anal intercourse time should be kept as low as possible during 2 and 6 months after low-dose-rate brachytherapy of the prostate with (103)Pd and (125)I, respectively.

Evaluation of the dosimetric impact of loss and displacement of seeds in prostate low-dose-rate brachytherapy

PURPOSE

To analyze the seed loss and displacement and their dosimetric impact in prostate low-dose-rate (LDR) brachytherapy while utilizing the combination of loose and stranded seeds.

MATERIAL AND METHODS

Two hundred and seventeen prostate cancer patients have been treated with LDR brachytherapy. Loose seeds were implanted in the prostate center and stranded seeds in the periphery of the gland. Patients were imaged with transrectal ultrasound before implant and with computerized tomography/magnetic resonance imaging (CT/MR) one month after implant. The seed loss and displacement had been analyzed. Their impact on prostate dosimetry had been examined. The seed distribution beyond the prostate inferior boundary had been studied.

RESULTS

The mean number of seeds per patient that were lost to lung, pelvis/abdomen, urine, or unknown destinations was 0.21, 0.13, 0.03, and 0.29, respectively. Overall, 40.1% of patients had seed loss. Seed migration to lung and pelvis/abdomen occurred in 15.5% and 10.5% of the patients, respectively. Documented seed loss to urine was found in 3% of the patients while 20% of patients had seed loss to unknown destinations. Prostate length difference between pre-plan and post-implant images was within 6 mm in more than 98% of cases. The difference in number of seeds inferior to prostate between pre-plan and post-implant dosimetry was within 7 seeds for 93% of patients. At time of implant, 98% of seeds, inferior to prostate, were within 5 mm and 100% within 15 mm, and in one month post-implant 83% within 9 mm and 96.3% within 15 mm. Prostate post-implant V100, D90, and rectal wall RV100 for patients without seed loss were 94.6%, 113.9%, and 0.98 cm(3), respectively, as compared to 95.0%, 114.8%, and 0.95 cm(3) for the group with seed loss.

CONCLUSIONS

Seed loss and displacement have been observed to be frequent. No correlation between seed loss and displacement and post-plan dosimetry has been reported.

An image-guidance system for dynamic dose calculation in prostate brachytherapy using ultrasound and fluoroscopy

PURPOSE

Brachytherapy is a standard option of care for prostate cancer patients but may be improved by dynamic dose calculation based on localized seed positions. The American Brachytherapy Society states that the major current limitation of intraoperative treatment planning is the inability to localize the seeds in relation to the prostate. An image-guidance system was therefore developed to localize seeds for dynamic dose calculation.

METHODS

The proposed system is based on transrectal ultrasound (TRUS) and mobile C-arm fluoroscopy, while using a simple fiducial with seed-like markers to compute pose from the nonencoded C-arm. Three or more fluoroscopic images and an ultrasound volume are acquired and processed by a pipeline of algorithms: (1) seed segmentation, (2) fiducial detection with pose estimation, (3) seed matching with reconstruction, and (4) fluoroscopy-to-TRUS registration.

RESULTS

The system was evaluated on ten phantom cases, resulting in an overall mean error of 1.3 mm. The system was also tested on 37 patients and each algorithm was evaluated. Seed segmentation resulted in a 1% false negative rate and 2% false positive rate. Fiducial detection with pose estimation resulted in a 98% detection rate. Seed matching with reconstruction had a mean error of 0.4 mm. Fluoroscopy-to-TRUS registration had a mean error of 1.3 mm. Moreover, a comparison of dose calculations between the authors' intraoperative method and an independent postoperative method shows a small difference of 7% and 2% forD90 and V100, respectively. Finally, the system demonstrated the ability to detect cold spots and required a total processing time of approximately 1 min.

CONCLUSIONS

The proposed image-guidance system is the first practical approach to dynamic dose calculation, outperforming earlier solutions in terms of robustness, ease of use, and functional completeness.

Recent developments and best practice in brachytherapy treatment planning

Brachytherapy has evolved over many decades, but more recently, there have been significant changes in the way that brachytherapy is used for different treatment sites. This has been due to the development of new, technologically advanced computer planning systems and treatment delivery techniques. Modern, three-dimensional (3D) imaging modalities have been incorporated into treatment planning methods, allowing full 3D dose distributions to be computed. Treatment techniques involving online planning have emerged, allowing dose distributions to be calculated and updated in real time based on the actual clinical situation. In the case of early stage breast cancer treatment, for example, electronic brachytherapy treatment techniques are being used in which the radiation dose is delivered during the same procedure as the surgery. There have also been significant advances in treatment applicator design, which allow the use of modern 3D imaging techniques for planning, and manufacturers have begun to implement new dose calculation algorithms that will correct for applicator shielding and tissue inhomogeneities. This article aims to review the recent developments and best practice in brachytherapy techniques and treatments. It will look at how imaging developments have been incorporated into current brachytherapy treatment and how these developments have played an integral role in the modern brachytherapy era. The planning requirements for different treatments sites are reviewed as well as the future developments of brachytherapy in radiobiology and treatment planning dose calculation.

Seed localization in ultrasound and registration to C-arm fluoroscopy using matched needle tracks for prostate brachytherapy

We propose a novel fiducial-free approach for the registration of C-arm fluoroscopy to 3-D ultrasound images of prostate brachytherapy implants to enable dosimetry. The approach involves the reliable detection of a subset of radioactive seeds from 3-D ultrasound, and the use of needle tracks in both ultrasound and fluoroscopy for registration. Seed detection in ultrasound is achieved through template matching in 3-D radio frequency ultrasound signals, followed by thresholding and spatial filtering. The resulting subset of seeds is registered to the complete reconstruction of the brachytherapy implant from multiple C-arm fluoroscopy views. To compensate for the deformation caused by the ultrasound probe, simulated warping is applied to the seed cloud from fluoroscopy. The magnitude of the applied warping is optimized within the registration process. The registration is performed in two stages. First, the needle track projections from fluoroscopy and ultrasound are matched. Only the seeds in the matched needles are then used as fiducials for point-based registration. We report results from a physical phantom with a realistic implant (average postregistration seed distance of 1.6 ± 1.2 mm) and from five clinical patient datasets (average error: 2.8 ± 1.5 mm over 128 detected seeds). We conclude that it is feasible to use RF ultrasound data, template matching, and spatial filtering to detect a reliable subset of brachytherapy seeds from ultrasound to enable registration to fluoroscopy for dosimetry.

Ultrasound-fluoroscopy registration for prostate brachytherapy dosimetry

Prostate brachytherapy is a treatment for prostate cancer using radioactive seeds that are permanently implanted in the prostate. The treatment success depends on adequate coverage of the target gland with a therapeutic dose, while sparing the surrounding tissue. Since seed implantation is performed under transrectal ultrasound (TRUS) imaging, intraoperative localization of the seeds in ultrasound can provide physicians with dynamic dose assessment and plan modification. However, since all the seeds cannot be seen in the ultrasound images, registration between ultrasound and fluoroscopy is a practical solution for intraoperative dosimetry. In this manuscript, we introduce a new image-based nonrigid registration method that obviates the need for manual seed segmentation in TRUS images and compensates for the prostate displacement and deformation due to TRUS probe pressure. First, we filter the ultrasound images for subsequent registration using thresholding and Gaussian blurring. Second, a computationally efficient point-to-volume similarity metric, an affine transformation and an evolutionary optimizer are used in the registration loop. A phantom study showed final registration errors of 0.84 ± 0.45 mm compared to ground truth. In a study on data from 10 patients, the registration algorithm showed overall seed-to-seed errors of 1.7 ± 1.0 mm and 1.5 ± 0.9 mm for rigid and nonrigid registration methods, respectively, performed in approximately 30s per patient.

Intra-operative 3D guidance and edema detection in prostate brachytherapy using a non-isocentric C-arm

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.

Point-to-volume registration of prostate implants to ultrasound

Ultrasound-Fluoroscopy fusion is a key step toward intraoperative dosimetry for prostate brachytherapy. We propose a method for intensity-based registration of fluoroscopy to ultrasound that obviates the need for seed segmentation required for seed-based registration. We employ image thresholding and morphological and Gaussian filtering to enhance the image intensity distribution of ultrasound volume. Finally, we find the registration parameters by maximizing a point-to-volume similarity metric. We conducted an experiment on a ground truth phantom and achieved registration error of 0.7 +/- 0.2 mm. Our clinical results on 5 patient data sets show excellent visual agreement between the registered seeds and the ultrasound volume with a seed-to-seed registration error of 1.8 +/- 0.9mm. With low registration error, high computational speed and no need for manual seed segmentation, our method is promising for clinical application.

Intra-operative prostate brachytherapy dosimetry based on partial seed localization in ultrasound and registration to C-arm fluoroscopy

Intraoperative dosimetry during prostate brachytherapy is a long standing clinical problem. We propose a novel framework to address this problem by reliable detection of a subset of seeds from 3D transrectal ultrasound and registration to fluoroscopy. Seed detection in ultrasound is achieved through template matching in the RF ultrasound domain followed by thresholding and spatial filtering based on the fixed distance between stranded seeds. This subset of seeds is registered to the complete reconstruction of the implant in C-arm fluoroscopy. We report results, validated with a leave-one-needle-out approach, both in a phantom (average post-registration seed distance of 2.5 mm) and in three clinical patient datasets (average error: 3.9 mm over 113 seeds).

Intraoperative 3D reconstruction of prostate brachytherapy implants with automatic pose correction

The success of prostate brachytherapy critically depends on delivering adequate dose to the prostate gland, and the capability of intraoperatively localizing implanted seeds provides potential for dose evaluation and optimization during therapy. REDMAPS is a recently reported algorithm that carries out seed localization by detecting, matching and reconstructing seeds in only a few seconds from three acquired x-ray images (Lee et al 2011 IEEE Trans. Med. Imaging 29 38-51). In this paper, we present an automatic pose correction (APC) process that is combined with REDMAPS to allow for both more accurate seed reconstruction and the use of images with relatively large pose errors. APC uses a set of reconstructed seeds as a fiducial and corrects the image pose by minimizing the overall projection error. The seed matching and APC are iteratively computed until a stopping condition is met. Simulations and clinical studies show that APC significantly improves the reconstructions with an overall average matching rate of ⩾99.4%, reconstruction error of ⩽0.5 mm, and the matching solution optimality of ⩾99.8%.

Technical note: unsupervised C-arm pose tracking with radiographic fiducial

PURPOSE

C-arm fluoroscopy reconstruction, such as that used in prostate brachytherapy, requires that the relative poses of the individual C-arm fluoroscopy images must be known prior to reconstruction. Radiographic fiducials can provide excellent C-arm pose tracking, but they need to be segmented in the image. The authors report an automated and unsupervised method that does not require prior segmentation of the fiducial.

METHODS

The authors compute the individual C-arm poses relative to a stationary radiographic fiducial of known geometry. The authors register a filtered 2D fluoroscopy image of the fiducial to its 3D model by using image intensity alone without prior segmentation. To enhance the C-arm images, the authors investigated a three-step cascade filter and a line enhancement filter. The authors tested the method on a composite fiducial containing beads, straight lines, and ellipses. Ground-truth C-arm pose was provided by a clinically proven method.

RESULTS

Using 111 clinical C-arm images and +/- 10 degrees and +/- 10 mm random perturbation around the ground-truth pose, a total of 2775 cases were evaluated. The average rotation and translation errors were 0.62 degrees (STD = 0.31 degrees) and 0.72 mm (STD = 0.55 mm) for the three-step filter and 0.67 degrees (STD = 0.40 degrees) and 0.87 mm (STD = 0.27 mm) using the line enhancement filter.

CONCLUSIONS

The C-arm pose tracking method was sufficiently accurate and robust on human patient data for subsequent 3D implant reconstruction.

Reconstruction of brachytherapy seed positions and orientations from cone-beam CT x-ray projections via a novel iterative forward projection matching method

PURPOSE

To generalize and experimentally validate a novel algorithm for reconstructing the 3D pose (position and orientation) of implanted brachytherapy seeds from a set of a few measured 2D cone-beam CT (CBCT) x-ray projections.

METHODS

The iterative forward projection matching (IFPM) algorithm was generalized to reconstruct the 3D pose, as well as the centroid, of brachytherapy seeds from three to ten measured 2D projections. The gIFPM algorithm finds the set of seed poses that minimizes the sum-of-squared-difference of the pixel-by-pixel intensities between computed and measured autosegmented radiographic projections of the implant. Numerical simulations of clinically realistic brachytherapy seed configurations were performed to demonstrate the proof of principle. An in-house machined brachytherapy phantom, which supports precise specification of seed position and orientation at known values for simulated implant geometries, was used to experimentally validate this algorithm. The phantom was scanned on an ACUITY CBCT digital simulator over a full 660 sinogram projections. Three to ten x-ray images were selected from the full set of CBCT sinogram projections and postprocessed to create binary seed-only images.

RESULTS

In the numerical simulations, seed reconstruction position and orientation errors were approximately 0.6 mm and 5 degrees, respectively. The physical phantom measurements demonstrated an absolute positional accuracy of (0.78 +/- 0.57) mm or less. The theta and phi angle errors were found to be (5.7 +/- 4.9) degrees and (6.0 +/- 4.1) degrees, respectively, or less when using three projections; with six projections, results were slightly better. The mean registration error was better than 1 mm/6 degrees compared to the measured seed projections. Each test trial converged in 10-20 iterations with computation time of 12-18 min/iteration on a 1 GHz processor.

CONCLUSIONS

This work describes a novel, accurate, and completely automatic method for reconstructing seed orientations, as well as centroids, from a small number of radiographic projections, in support of intraoperative planning and adaptive replanning. Unlike standard back-projection methods, gIFPM avoids the need to match corresponding seed images on the projections. This algorithm also successfully reconstructs overlapping clustered and highly migrated seeds in the implant. The accuracy of better than 1 mm and 6 degrees demonstrates that gIFPM has the potential to support 2D Task Group 43 calculations in clinical practice.

REDMAPS: reduced-dimensionality matching for prostate brachytherapy seed reconstruction

The success of prostate brachytherapy critically depends on delivering adequate dose to the prostate gland. Intraoperative localization of the implanted seeds provides potential for dose evaluation and optimization during therapy. A reduced-dimensionality matching algorithm for prostate brachytherapy seed reconstruction (REDMAPS) that uses multiple X-ray fluoroscopy images obtained from different poses is proposed. The seed reconstruction problem is formulated as a combinatorial optimization problem, and REDMAPS finds a solution in a clinically acceptable amount of time using dimensionality reduction to create a smaller space of possible solutions. Dimensionality reduction is possible since the optimal solution has approximately zero cost when the poses of the acquired images are known to be within a small error. REDMAPS is also formulated to address the "hidden seed problem" in which seeds overlap on one or more observed images. REDMAPS uses a pruning algorithm to avoid unnecessary computation of cost metrics and the reduced problem is solved using linear programming. REDMAPS was first evaluated and its parameters tuned using simulations. It was then validated using five phantom and 21 patient datasets. REDMAPS was successful in reconstructing the seeds with an overall seed matching rate above 99% and a reconstruction error below 1 mm in less than 5 s.

Clinical application and validation of an iterative forward projection matching algorithm for permanent brachytherapy seed localization from conebeam-CT x-ray projections

PURPOSE

To experimentally validate a new algorithm for reconstructing the 3D positions of implanted brachytherapy seeds from postoperatively acquired 2D conebeam-CT (CBCT) projection images.

METHODS

The iterative forward projection matching (IFPM) algorithm finds the 3D seed geometry that minimizes the sum of the squared intensity differences between computed projections of an initial estimate of the seed configuration and radiographic projections of the implant. In-house machined phantoms, containing arrays of 12 and 72 seeds, respectively, are used to validate this method. Also, four 103Pd postimplant patients are scanned using an ACUITY digital simulator. Three to ten x-ray images are selected from the CBCT projection set and processed to create binary seed-only images. To quantify IFPM accuracy, the reconstructed seed positions are forward projected and overlaid on the measured seed images to find the nearest-neighbor distance between measured and computed seed positions for each image pair. Also, the estimated 3D seed coordinates are compared to known seed positions in the phantom and clinically obtained VariSeed planning coordinates for the patient data.

RESULTS

For the phantom study, seed localization error is (0.58 +/- 0.33) mm. For all four patient cases, the mean registration error is better than 1 mm while compared against the measured seed projections. IFPM converges in 20-28 iterations, with a computation time of about 1.9-2.8 min/ iteration on a 1 GHz processor.

CONCLUSIONS

The IFPM algorithm avoids the need to match corresponding seeds in each projection as required by standard back-projection methods. The authors' results demonstrate approximately 1 mm accuracy in reconstructing the 3D positions of brachytherapy seeds from the measured 2D projections. This algorithm also successfully localizes overlapping clustered and highly migrated seeds in the implant.

Image fusion techniques in permanent seed implantation

Over the last twenty years major software and hardware developments in brachytherapy treatment planning, intraoperative navigation and dose delivery have been made. Image-guided brachytherapy has emerged as the ultimate conformal radiation therapy, allowing precise dose deposition on small volumes under direct image visualization. In this process imaging plays a central role and novel imaging techniques are being developed (PET, MRI-MRS and power Doppler US imaging are among them), creating a new paradigm (dose-guided brachytherapy), where imaging is used to map the exact coordinates of the tumour cells, and to guide applicator insertion to the correct position. Each of these modalities has limitations providing all of the physical and geometric information required for the brachytherapy workflow. Therefore, image fusion can be used as a solution in order to take full advantage of the information from each modality in treatment planning, intraoperative navigation, dose delivery, verification and follow-up of interstitial irradiation. Image fusion, understood as the visualization of any morphological volume (i.e. US, CT, MRI) together with an additional second morphological volume (i.e. CT, MRI) or functional dataset (functional MRI, SPECT, PET), is a well known method for treatment planning, verification and follow-up of interstitial irradiation. The term image fusion is used when multiple patient image datasets are registered and overlaid or merged to provide additional information. Fused images may be created from multiple images from the same imaging modality taken at different moments (multi-temporal approach), or by combining information from multiple modalities. Quality means that the fused images should provide additional information to the brachytherapy process (diagnosis and staging, treatment planning, intraoperative imaging, treatment delivery and follow-up) that cannot be obtained in other ways. In this review I will focus on the role of image fusion for permanent seed implantation.

Registration between ultrasound and fluoroscopy or CT in prostate brachytherapy

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.

Detection of brachytherapy seeds using 3-D transrectal ultrasound

Detection of brachytherapy seeds plays a key role in dosimetry for prostate brachytherapy. However, seed localization using B-mode transrectal ultrasound (TRUS) still remains a challenge for prostate brachytherapy, mainly due to the small size of brachytherapy seeds in the relatively low-quality B-mode TRUS images. In this paper, we propose a new solution for brachytherapy seed detection using 3-D ultrasound. A 3-D reflected power image is computed from ultrasound RF signals, instead of conventional B-mode images. Then, implanted seeds are segmented in 3-D local search spaces that are determined by a priori knowledge, e.g., needle entry points and seed placements. Needle insertion tracks are also detected locally by the Hough transform. Experimental results show that the proposed solution works well for seed localization in a prostate phantom implanted according to a realistic treatment plan with 136 seeds from 26 needles.

Seed localization and TRUS-fluoroscopy fusion for intraoperative prostate brachytherapy dosimetry

OBJECTIVE

To develop and evaluate an integrated approach to intra-operative dosimetry for permanent prostate brachytherapy (PPB) by combining a fluoroscopy-based seed localization routine with a transrectal ultrasound (TRUS)-to-fluoroscopy fusion technique.

MATERIALS AND METHODS

Three-dimensional seed coordinates are reconstructed based on the two-dimensional seed locations identified from three fluoroscopic images acquired at different angles. A seed-based registration approach was examined in both simulation and phantom studies to register the seed locations identified from the fluoroscopic images to the TRUS images. Dose parameters were then evaluated and compared to CT-based dosimetry from a patient dataset.

RESULTS

Less than 0.2% error in the D90 value was observed using the TRUS-fluoroscopy image-fusion-based method relative to the CT-based post-implantation dosimetry. In the phantom study, an average distance of 3 mm was observed between the seeds identified from TRUS and the reconstructed seeds at registration. Isodose contours were displayed superimposed on the TRUS images.

CONCLUSIONS

Promising results were observed in this preliminary study of a TRUS-fluoroscopy fusion-based brachytherapy dosimetry analysis method, suggesting that the method is highly sensitive and calculates clinically relevant dosimetry, including the prostate D90. Further validation of the method is required for eventual clinical application.

Prostate brachytherapy seed reconstruction with Gaussian blurring and optimal coverage cost

Intraoperative dosimetry in prostate brachytherapy requires localization of the implanted radioactive seeds. A tomosynthesis-based seed reconstruction method is proposed. A three-dimensional volume is reconstructed from Gaussian-blurred projection images and candidate seed locations are computed from the reconstructed volume. A false positive seed removal process, formulated as an optimal coverage problem, iteratively removes "ghost" seeds that are created by tomosynthesis reconstruction. In an effort to minimize pose errors that are common in conventional C-arms, initial pose parameter estimates are iteratively corrected by using the detected candidate seeds as fiducials, which automatically "focuses" the collected images and improves successive reconstructed volumes. Simulation results imply that the implanted seed locations can be estimated with a detection rate of > or = 97.9% and > or = 99.3% from three and four images, respectively, when the C-arm is calibrated and the pose of the C-arm is known. The algorithm was also validated on phantom data sets successfully localizing the implanted seeds from four or five images. In a Phase-1 clinical trial, we were able to localize the implanted seeds from five intraoperative fluoroscopy images with 98.8% (STD=1.6) overall detection rate.

REDUCED-DIMENSIONALITY MATCHING FOR 3-D RECONSTRUCTION OF PROSTATE BRACHYTHERAPY IMPLANTS FROM INCOMPLETE DATA

X-ray fluoroscopy is widely used for intra-operative dosimetry in prostate brachytherapy. Three-dimensional locations of the implanted radioactive seeds can be calculated from multiple X-ray images upon resolving the correspondence of seeds. This is usually modeled as an assignment problem that is NP-hard. We propose an algorithm that allows us to derive an equivalent problem of reduced dimensionality based on practical observation that the optimal solution has almost zero cost if the C-arm pose is known. The reduced problem is efficiently solved by linear programming in polynomial time. Additionally, our method solves the hidden seeds problem. Simulation results demonstrate that the implanted seeds can be localized with a matching rate of ≥ 98.8 % and reconstruction error of ≤ 0.37 mm using three images with hidden seeds in a few seconds when the pose of the C-arm is known.

Overlapped seed localization in seed implant brachytherapy

A procedure for the determination of the location of prostate implant seeds that are wholly overlapped in a projection view has been developed. The procedure mainly consists of a series of image processing and an in-house developed localization software based on a three-film technique. To verify the efficacy of the procedure, a simulation phantom was built and nine sets of simulation were performed. For the assessment of the location of the seeds in the phantom, three images, one in anterior-posterior direction and two others in oblique angles, were acquired and a series of image processing was applied to the images for the removal of unnecessary background and the improvement of imaging quality. In this study, three types were considered; first, when two seeds were overlapped in one of projection images, second, more than three seeds were overlapped in one of projection images, and the third, all images contained wholly overlapped seeds. The developed software separates wholly overlapped seeds by calculating the distance between seeds in each film. This software can provide valuable information for establishing effective quality assurance in permanent prostate brachytherapy.

Quality assurance/quality control issues for intraoperative planning and adaptive repeat planning of image-guided prostate implants

The quality assurance/quality control purpose is this. We design a treatment plan, and we wish to be as certain as reasonably possible that the treatment is delivered as planned. In the case of conventionally planned prostate brachytherapy, implementing to the letter the implantation plan is rarely attainable and therefore can require adaptive replanning (a quality control issue). The reasons for this state of affairs include changes in the prostate shape and volume during implantation and treatment delivery (e.g., edema resolution) and unavoidable inaccuracy in the placement of the seeds in the prostate. As a result, quality-control activities (e.g., the need to monitor-ideally, on the fly-the target and urethral and rectal dosage) must be also addressed.

INTENSITY-BASED REGISTRATION OF PROSTATE BRACHYTHERAPY IMPLANTS AND ULTRASOUND

PURPOSE: In prostate brachytherapy, determining the 3D location of the seeds relative to surrounding structures is necessary for calculating dosimetry. Ultrasound imaging provides the ability to visualize soft tissues, and implanted seeds can be reconstructed from C-arm fluoroscopy. Registration between these two complementary modalities would allow us to make immediate provisions for dosimetric deviation from the optimal implant plan. METHODS: We propose intensity-based registration between ultrasound and a reconstructed model of seeds from fluoroscopy. The ultrasound images are pre-processed with recursive thresholding and phase congruency. Then a 3D ultrasound volume is reconstructed and registered to the implant model using mutual information. RESULTS: A standard training phantom was implanted with 49 seeds. Average registration error between corresponding seeds relative to the ground truth is 0.09 mm. The effect of false positives in ultrasound was investigated by masking seeds from the fluoroscopy reconstructed model. The registration error remained below 0.5 mm at a rate of 30% false positives. CONCLUSION: Our method promises to be clinically adequate, where requirements for registration is 1.5 mm.

Permanent prostate seed brachytherapy: a current perspective on the evolution of the technique and its application

This Review highlights current areas of controversy and development in the field of transperineal permanent prostate seed implantation brachytherapy (PPI), in particular the technological evolution of PPI treatment planning that has led to intra-operative treatment planning and execution, the use of MRI spectroscopy and ultrasonography to target intraprostatic tumor foci, and the introduction of (131)Cs as a new PPI isotope. Here we present a comprehensive review of mature data for PPI monotherapy and PPI combined with supplemental external beam radiation therapy, and a critical discussion of issues pertinent to supplemental EBRT. We also present our current policies in the treatment of prostate cancer at the University of California, San Francisco.

Intra-operative 3D guidance in prostate brachytherapy using a non-isocentric C-arm

Intra-operative guidance in Transrectal Ultrasound (TRUS) guided prostate brachytherapy requires localization of inserted radioactive seeds relative to the prostate. Seeds were reconstructed using a typical C-arm, and exported to a commercial brachytherapy system for dosimetry analysis. Technical obstacles for 3D reconstruction on a non-isocentric C-arm included pose-dependent C-arm calibration; distortion correction; pose estimation of C-arm images; seed reconstruction; and C-arm to TRUS registration. In precision-machined hard phantoms with 40-100 seeds, we correctly reconstructed 99.8% seeds with a mean 3D accuracy of 0.68 mm. In soft tissue phantoms with 45-87 seeds and clinically realistic 15 degrees C-arm motion, we correctly reconstructed 100% seeds with an accuracy of 1.3 mm. The reconstructed 3D seed positions were then registered to the prostate segmented from TRUS. In a Phase-1 clinical trial, so far on 4 patients with 66-84 seeds, we achieved intra-operative monitoring of seed distribution and dosimetry. We optimized the 100% prescribed iso-dose contour by inserting an average of 3.75 additional seeds, making intra-operative dosimetry possible on a typical C-arm, at negligible additional cost to the existing clinical installation.

Detection of brachytherapy seeds using 3D ultrasound

Imaging and detection of brachytherapy seeds using transrectal ultrasound (TRUS) remains a challenge for prostate brachytherapy, mainly due to the small size of brachytherapy seeds in relatively low-quality B-mode TRUS images. In this paper, we propose a new solution for brachytherapy seed detection using 3D ultrasound. We use 3D reflected power images computed from ultrasound radio-frequency signals, instead of using conventional B-mode images. Then implanted seeds are detected in 3D local search spaces that are determined by a priori knowledge. Experimental results showed that the proposed solution works well for seed localization in the prostate phantom.

Computed tomography-ultrasound fusion brachytherapy: description and evolution of the technique

PURPOSE

In this manuscript, we describe our computed tomography (CT)-ultrasound (US) fusion prostate brachytherapy method and report the updated dosimetry result and trend.

METHODS AND MATERIALS

This cohort of 132 consecutive patients received CT-US fusion prostate brachytherapy from the first author (DBF) from December 2002 to August 2006. The technique consists of a hybrid preplanned and intraoperative dynamic dosimetry method, which initially delivers a standard preplanned source distribution, and then uses interval CT-based source identification dosimetry, fused to an identically spaced intraoperative US volume study series, to direct remedial sources that correct initial dosimetry deficiencies.

RESULTS

The median and minimum prostate Day 0 prostate volume of interest receiving 100% of prescribed dose (V(100)) results in this patient cohort measured 98.26% and 92.61%, respectively, with all Day 0 prostate dose received by 90% of the volume of interest (D(90)) results exceeding 100% of the prescribed dose, and the maximum Day 0 prostate D(90) value measuring 128% of the prescribed dose. During the period of this analysis, a trend to the decreased quantity of dynamic remedial millicuries per case was identified, with the total sources decreasing from 116% to 106% of the preplanned level, resulting in minimal V(100) and D(90) decreases, while continuing to exceed the minimum Day 0 dosimetry requirements.

CONCLUSIONS

CT-US fusion dynamic prostate brachytherapy represents a consistent prostate brachytherapy dosimetry delivery mechanism, creating a tight lower and upper bound to the final Day 0 prostate V(100) and D(90) parameters. The practice and pitfalls of this technique are discussed in detail.

Prostate brachytherapy seed reconstruction using an adaptive grouping technique

Fluoroscopy-based three-dimensional seed localization as a component of intraoperative dosimetry for prostate brachytherapy is an active area of research. A novel adaptive-grouping-based reconstruction approach is developed. This approach can recover overlapped seeds that are not detected from the fluoroscopic images. Two versions of the adaptive-grouping-based reconstruction approach are implemented and compared to an epipolar geometry-based seed reconstruction technique. Simulations based on nine patient datasets are used to validate the algorithms. A total of 2259 reconstructions is performed in which different types of error such as random noise in seed image locations and ambiguities in projection geometry are incorporated. Among those reconstructions, nine of the cases with overlapping seeds and the different types of error are performed. It is demonstrated that the adaptive-grouping-based reconstruction method is more accurate than the epipolar geometry method and allows faster reconstruction. At a random noise level of 0.6 mm, the mean distance error in reconstructed seed locations is approximately 1.0 mm for one of the relevant cases examined in detail. The best adaptive-grouping-based approach successfully recovered overlapped seeds in the majority of simulated cases (89%), with the remainder of cases generating one false positive seed. Phantom validation is also performed, and overlapped seeds are successfully recovered with all 92 seeds correctly localized and reconstructed. The mean distance error between segmented seed images and projected seeds is 0.5 mm in the phantom study.

Dosimetry accuracy as a function of seed localization uncertainty in permanent prostate brachytherapy: increased seed number correlates with less variability in prostate dosimetry

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.

Tumour and target volumes in permanent prostate brachytherapy: A supplement to the ESTRO/EAU/EORTC recommendations on prostate brachytherapy

The aim of this paper is to supplement the GEC/ESTRO/EAU recommendations for permanent seed implantations in prostate cancer to develop consistency in target and volume definition for permanent seed prostate brachytherapy. Recommendations on target and organ at risk (OAR) definitions and dosimetry parameters to be reported on post implant planning are given.

Three-dimensional reconstruction of seed implants by randomized rounding and visual evaluation

The development of efficient 3D seed reconstruction algorithms is an ongoing and vivid research topic. Since the 1980s many publications about seed assignment were published. In this paper a novel mathematical approach is described to solve the 3D assignment problem for the reconstruction of seeds with radiographs: we present a fast linear programming approach together with afterwards applying the so-called randomized rounding scheme to compute good (possibly partial) assignments. We apply a visualization software that allows user interaction to check the solution given by the algorithm and to augment partial assignments. The second step is justified as the randomized algorithm already returns optimal solutions is many cases, and in cases with partial assignments it fails to match only a very small number of seed images. Our algorithm transfers ideas from recent breakthrough research work on the design of efficient randomized algorithms in discrete optimization and computer science to the seed reconstruction problem.

Automated localization of implanted seeds in 3D TRUS images used for prostate brachytherapy

An algorithm has been developed in this paper to localize implanted radioactive seeds in 3D ultrasound images for a dynamic intraoperative brachytherapy procedure. Segmentation of the seeds is difficult, due to their small size in relatively low quality of transrectal ultrasound (TRUS) images. In this paper, intraoperative seed segmentation in 3D TRUS images is achieved by performing a subtraction of the image before the needle has been inserted, and the image after the seeds have been implanted. The seeds are searched in a "local" space determined by the needle position and orientation information, which are obtained from a needle segmentation algorithm. To test this approach, 3D TRUS images of the agar and chicken tissue phantoms were obtained. Within these phantoms, dummy seeds were implanted. The seed locations determined by the seed segmentation algorithm were compared with those obtained from a volumetric cone-beam flat-panel micro-CT scanner and human observers. Evaluation of the algorithm showed that the rms error in determining the seed locations using the seed segmentation algorithm was 0.98 mm in agar phantoms and 1.02 mm in chicken phantoms.

3D TRUS guided robot assisted prostate brachytherapy

This paper describes a system for dynamic intraoperative prostate brachytherapy using 3D ultrasound guidance with robot assistance. The system consists of 3D transrectal ultrasound (TRUS) imaging, a robot and software for prostate segmentation, 3D dose planning, oblique needle segmentation and tracking, seed segmentation, and dynamic re-planning and verification. The needle targeting accuracy of the system was 0.79 mm +/- 0.32 mm in a phantom study.

Robotically assisted prostate brachytherapy with transrectal ultrasound guidance--Phantom experiments

PURPOSE

To report the preliminary experimental results obtained with a robot-assisted transrectal ultrasound (TRUS)-guided prostate brachytherapy system.

METHODS AND MATERIALS

The system consists of a TRUS unit, a spatially coregistered needle insertion robot, and an FDA-approved treatment planning and image-registered implant system. The robot receives each entry/target coordinate pair of the implant plan, inserts a preloaded needle, and then the seeds are deposited. The needles/sources are tracked in TRUS, thus allowing the plan to be updated as the procedure progresses.

RESULTS

The first insertion attempt was recorded for each needle, without adjustment. All clinically relevant locations were reached in a prostate phantom. Nonparallel and parallel needle trajectories were demonstrated. Based on TRUS, the average transverse placement error was 2 mm (worst case 2.5 mm, 80% less than 2 mm), and the average sagittal error was 2.5 mm (worst case 5.0 mm, 70% less than 2.5 mm).

CONCLUSIONS

The concept and technical viability of robot-assisted brachytherapy were demonstrated in phantoms. The kinematically decoupled robotic assistant device is inherently safe. Overall performance was promising, but further optimization is necessary to prove the possibility of improved dosimetry.

MCPI©: A sub-minute Monte Carlo dose calculation engine for prostate implants

An accelerated Monte Carlo code [Monte Carlo dose calculation for prostate implant (MCPI)] is developed for dose calculation in prostate brachytherapy. MCPI physically simulates a set of radioactive seeds with arbitrary positions and orientations, merged in a three-dimensional (3D) heterogeneous phantom representing the prostate and surrounding tissue. MCPI uses a phase space data source-model to account for seed self-absorption and seed anisotropy. A "hybrid geometry" model (full 3D seed geometry merged in 3D mesh of voxels) is used for rigorous treatment of the interseed attenuation and tissue heterogeneity effects. MCPI is benchmarked against the MCNP5 code for idealized and real implants, for 103Pd and 125I seeds. MCPI calculates the dose distribution (2-mm voxel mesh) of a 103Pd implant (83 seeds) with 2% average statistical uncertainty in 59 s using a single Pentium 4 PC (2.4 GHz). MCPI is more than 10(3) and 10(4) times faster than MCNP5 for prostate dose calculations using 2- and 1-mm voxels, respectively. To illustrate its usefulness, MCPI is used to quantify the dosimetric effects of interseed attenuation, tissue composition, and tissue calcifications. Ignoring the interseed attenuation effect or slightly varying the prostate tissue composition may lead to 6% decreases of D100, the dose delivered to 100% of the prostate. The presence of calcifications, covering 1%-5% of the prostate volume, decreases D80, D90, and D100 by up to 32%, 37%, and 58%, respectively. In conclusion, sub-minute dose calculations, taking into account all dosimetric effects, are now possible for more accurate dose planning and dose assessment in prostate brachytherapy.

Computing intraoperative dosimetry for prostate brachytherapy using TRUS and fluoroscopy

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.

Automatic detection of fiducial markers in fluoroscopy images for on-line calibration

Calibrated C-arm fluoroscopy is used for a variety of medical procedures where objects and anatomical structures need to be located in space. Calibration is often based on imaging a grid of fiducial markers and using the C-arm image's geometrical measurements (radius and center) together with the positions of the markers. An on-line technique is developed to automatically locate the fiducial markers and validated on 97 images. The success rate of the detection algorithm is 96.28% with an average error of 0.46 mm and a standard deviation of 0.32 mm.

Intraoperative fluoroscopic dose assessment in prostate brachytherapy patients

PURPOSE

To evaluate a fluoroscopy-based intraoperative dosimetry system to guide placement of additional sources to underdosed areas, and perform computed tomography (CT) verification.

METHODS AND MATERIALS

Twenty-six patients with prostate carcinoma treated with either I-125 or Pd-103 brachytherapy at the Puget Sound VA using intraoperative postimplant dosimetry were analyzed. Implants were performed by standard techniques. After completion of the initial planned brachytherapy procedure, the initial fluoroscopic intraoperative dose reconstruction analysis (I-FL) was performed with three fluoroscopic images acquired at 0 (AP), +15, and -15 degrees. Automatic seed identification was performed and the three-dimensional (3D) seed coordinates were computed and imported into VariSeed for dose visualization. Based on a 3D assessment of the isodose patterns additional seeds were implanted, and the final fluoroscopic intraoperative dose reconstruction was performed (FL). A postimplant computed tomography (CT) scan was obtained after the procedure and dosimetric parameters and isodose patterns were analyzed and compared.

RESULTS

An average of 4.7 additional seeds were implanted after intraoperative analysis of the dose coverage (I-FL), and a median of 5 seeds. After implantation of additional seeds the mean V100 increased from 89% (I-FL) to 92% (FL) (p < 0.001). In I-125 patients an improvement from 91% to 94% (p = 0.01), and 87% to 93% (p = 0.001) was seen for Pd-103. The D90 increased from 105% (I-FL) to 122% (FL) (p < 0.001) for I-125, and 92% (I-FL) to 102% (FL) (p = 0.008) for Pd-103. A minimal change occurred in the R100 from a mean of 0.32 mL (I-FL) to 0.6 mL (FL) (p = 0.19). No statistical difference was noted in the R100 (rectal volume receiving 100% of the prescribed dose) between the two techniques. The rate of adverse isodose patterns decreased between I-FL and FL from 42% to 8%, respectively. The I-125 patients demonstrated a complete resolution of adverse isodose patterns after the initial isodose reconstruction (I-FL). The Pd-103 patients demonstrated a final rate of 8% gaps, 0% islands, and 0% holes on corrected isodose reconstruction.

CONCLUSION

The use of intraoperative fluoroscopy-based dose assessment can accurately guide in the implantation of additional sources to supplement inadequately dosed areas within the prostate gland. Additionally, guided implantation of additional source, can significantly improve V100s and D90s, without significantly increasing rectal doses.

Examination of dosimetry accuracy as a function of seed detection rate in permanent prostate brachytherapy

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.

Oblique needle segmentation and tracking for 3D TRUS guided prostate brachytherapy

An algorithm was developed in order to segment and track brachytherapy needles inserted along oblique trajectories. Three-dimensional (3D) transrectal ultrasound (TRUS) images of the rigid rod simulating the needle inserted into the tissue-mimicking agar and chicken breast phantoms were obtained to test the accuracy of the algorithm under ideal conditions. Because the robot possesses high positioning and angulation accuracies, we used the robot as a "gold standard," and compared the results of algorithm segmentation to the values measured by the robot. Our testing results showed that the accuracy of the needle segmentation algorithm depends on the needle insertion distance into the 3D TRUS image and the angulations with respect to the TRUS transducer, e.g., at a 10 degrees insertion anglulation in agar phantoms, the error of the algorithm in determining the needle tip position was less than 1 mm when the insertion distance was greater than 15 mm. Near real-time needle tracking was achieved by scanning a small volume containing the needle. Our tests also showed that, the segmentation time was less than 60 ms, and the scanning time was less than 1.2 s, when the insertion distance into the 3D TRUS image was less than 55 mm. In our needle tracking tests in chicken breast phantoms, the errors in determining the needle orientation were less than 2 degrees in robot yaw and 0.7 degrees in robot pitch orientations, for up to 20 degrees needle insertion angles with the TRUS transducer in the horizontal plane when the needle insertion distance was greater than 15 mm.

Dosimetric effects of seed anisotropy and interseed attenuation for Pd103 and I125 prostate implants

A Monte Carlo study is carried out to quantify the effects of seed anisotropy and interseed attenuation for 103Pd and 125I prostate implants. Two idealized and two real prostate implants are considered. Full Monte Carlo simulation (FMCS) of implants (seeds are physically and simultaneously simulated) is compared with isotropic point-source dose-kernel superposition (PSKS) and line-source dose-kernel superposition (LSKS) methods. For clinical pre- and post-procedure implants, the dose to the different structures (prostate, rectum wall, and urethra) is calculated. The discretized volumes of these structures are reconstructed using transrectal ultrasound contours. Local dose differences (PSKS versus FMCS and LSKS versus FMCS) are investigated. The dose contributions from primary versus scattered photons are calculated separately. For 103Pd, the average absolute total dose difference between FMCS and PSKS can be as high as 7.4% for the idealized model and 6.1% for the clinical preprocedure implant. Similarly, the total dose difference is lower for the case of 125I: 4.4% for the idealized model and 4.6% for a clinical post-procedure implant. Average absolute dose differences between LSKS and FMCS are less significant for both seed models: 3 to 3.6% for the idealized models and 2.9 to 3.2% for the clinical plans. Dose differences between PSKS and FMCS are due to the absence of both seed anisotropy and interseed attenuation modeling in the PSKS approach. LSKS accounts for seed anisotropy but not for the interseed effect, leading to systematically overestimated dose values in comparison with the more accurate FMCS method. For both idealized and clinical implants the dose from scattered photons represent less than 1/3 of the total dose. For all studied cases, LSKS prostate DVHs overestimate D90 by 2 to 5% because of the missing interseed attenuation effect. PSKS and LSKS predictions of V150 and V200 are overestimated by up to 9% in comparison with the FMCS results. Finally, effects of seed anisotropy and interseed attenuation must be viewed in the context of other significant sources of dose uncertainty, namely seed orientation, source misplacement, prostate morphological changes and tissue heterogeneity.