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Choi DH, Ahn SH, Park K, Choi SH, Kim JS. Development of Total Lymphoid Irradiation (TLI)-Dedicated Shielding and Image-Guided System and Dose Evaluation Using 3D-Printed Rat Phantom. Front Vet Sci 2022; 9:832272. [PMID: 35664845 PMCID: PMC9159376 DOI: 10.3389/fvets.2022.832272] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/12/2022] [Accepted: 04/04/2022] [Indexed: 11/13/2022] Open
Abstract
Purpose The purpose of this study is to propose a technique for delivering accurate doses in an image-guided system by developing an experimental setup optimized for total lymphoid irradiation (TLI) in rat lung transplantation. Materials and Methods In this study, a position-controlled shielding system was developed, and the dose was quantitatively evaluated using a 3D rat phantom and Gafchromic EBT3 film. In addition, we made our own image-guided system that allows the position of the rat and the shielding system to be confirmed during TLI. Results As a result of using the position-controlled shielding system, it was found that the doses to the head and lungs were reduced by 93.1 and 87.4%, respectively, of the prescribed doses. In addition, it was shown that the position of the shielding system can be easily confirmed by using the image guidance system. Conclusion A shielding apparatus that can control dose delivery according to the size of the rat can optimize the dose for TLI in rat lung transplantation.
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Affiliation(s)
- Dong Hyeok Choi
- Department of Medicine, Yonsei University College of Medicine, Seoul, South Korea
| | - So Hyun Ahn
- Department of Radiation Oncology, Yonsei Cancer Center, Yonsei University College of Medicine, Seoul, South Korea
- *Correspondence: So Hyun Ahn
| | - Kwangwoo Park
- Department of Radiation Oncology, Yongin Severance Hospital, Yonsei University College of Medicine, Yongin, South Korea
- Kwangwoo Park
| | - Sang Hyun Choi
- Research Team of Radiological Physics and Engineering, Korea Institute of Radiological and Medical Sciences, Seoul, South Korea
| | - Jin Sung Kim
- Department of Medicine, Yonsei University College of Medicine, Seoul, South Korea
- Department of Radiation Oncology, Yonsei Cancer Center, Yonsei University College of Medicine, Seoul, South Korea
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Zhang W, Xia P, Liu S, Huang X, Zhao X, Liu Z, Dang H, Li X, Niu G. A coordinate positioning puncture method under robot-assisted CT-guidance: phantom and animal experiments. MINIM INVASIV THER 2022; 31:206-215. [PMID: 32633586 DOI: 10.1080/13645706.2020.1787451] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/23/2022]
Abstract
PURPOSE To evaluate the accuracy of the robot-assisted computed tomography (CT)-guided coordinate positioning puncture method by phantom and animal experiments. MATERIAL AND METHODS In the phantom experiment, seven robot-assisted punctures were made to evaluate the accuracy of the method. In the animal experiment, 18 punctures (nine robotic and nine manual) were made in the livers of nine rabbits. The indicators, such as needle-tract length, angle deviation, puncture accuracy, number of scans required, and radiation exposure dose were compared between manual and robotic punctures. The paired-samples t-test was used for analysis. RESULTS In the phantom experiment, the mean accuracy of seven punctures was 2.67 mm. In the animal experiment, there was no significant difference in needle-tract length (32.58 mm vs. 34.04 mm, p = .606), angle deviation (17.21° vs. 21.23° p = .557) and puncture accuracy (8.42 vs. 8.77 mm, p = .851) between the two groups. However, the number CT scans required (2.44 vs. 3.33, p = .002), and the radiation exposure dose (772.98 vs. 1077.89 mGy/cm, p = .003) were lower in the robot group than in the manual group. CONCLUSIONS The coordinate positioning puncture method under robot-assisted CT-guidance can reach an accuracy that is comparable to that of the traditional manual CT-guided puncture method and with fewer CT scanning times accompanied with a lower radiation dosage.
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Affiliation(s)
- Weifan Zhang
- Department of Surgical Oncology, The First Affiliated Hospital of Xi'an Jiaotong University, Xi'an, PR China
| | - Peng Xia
- Department of Surgical Oncology, The First Affiliated Hospital of Xi'an Jiaotong University, Xi'an, PR China
| | - Shijie Liu
- School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, PR China
| | - Xiaowei Huang
- School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, PR China
| | - Xinhui Zhao
- Department of Surgical Oncology, The First Affiliated Hospital of Xi'an Jiaotong University, Xi'an, PR China
| | - Zhao Liu
- Department of Surgical Oncology, The First Affiliated Hospital of Xi'an Jiaotong University, Xi'an, PR China
| | - Hui Dang
- Department of Endocrinology, The First Affiliated Hospital of Xi'an Jiaotong University, Xi'an, PR China
| | - Xiaohu Li
- School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, PR China
| | - Gang Niu
- Department of Medical Imaging, The First Affiliated Hospital of Xi'an Jiaotong University, Xi'an, PR China
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Needle-tissue interactive mechanism and steering control in image-guided robot-assisted minimally invasive surgery: a review. Med Biol Eng Comput 2018; 56:931-949. [DOI: 10.1007/s11517-018-1825-0] [Citation(s) in RCA: 10] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/05/2016] [Accepted: 03/27/2018] [Indexed: 12/19/2022]
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Gravett M, Cepek J, Fenster A. An ultra-high field strength MR image-guided robotic needle delivery system for in-bore small animal interventions. Med Phys 2017; 44:5544-5555. [PMID: 28849592 DOI: 10.1002/mp.12534] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.1] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/23/2017] [Revised: 07/10/2017] [Accepted: 07/18/2017] [Indexed: 11/05/2022] Open
Abstract
PURPOSE The purpose of this study was to develop and validate an image-guided robotic needle delivery system for accurate and repeatable needle targeting procedures in mouse brains inside the 12 cm inner diameter gradient coil insert of a 9.4 T MR scanner. Many preclinical research techniques require the use of accurate needle deliveries to soft tissues, including brain tissue. Soft tissues are optimally visualized in MR images, which offer high-soft tissue contrast, as well as a range of unique imaging techniques, including functional, spectroscopy and thermal imaging, however, there are currently no solutions for delivering needles to small animal brains inside the bore of an ultra-high field MR scanner. This paper describes the mechatronic design, evaluation of MR compatibility, registration technique, mechanical calibration, the quantitative validation of the in-bore image-guided needle targeting accuracy and repeatability, and demonstrated the system's ability to deliver needles in situ. METHODS Our six degree-of-freedom, MR compatible, mechatronic system was designed to fit inside the bore of a 9.4 T MR scanner and is actuated using a combination of piezoelectric and hydraulic mechanisms. The MR compatibility and targeting accuracy of the needle delivery system are evaluated to ensure that the system is precisely calibrated to perform the needle targeting procedures. A semi-automated image registration is performed to link the robot coordinates to the MR coordinate system. Soft tissue targets can be accurately localized in MR images, followed by automatic alignment of the needle trajectory to the target. Intra-procedure visualization of the needle target location and the needle were confirmed through MR images after needle insertion. RESULTS The effects of geometric distortions and signal noise were found to be below threshold that would have an impact on the accuracy of the system. The system was found to have negligible effect on the MR image signal noise and geometric distortion. The system was mechanically calibrated and the mean image-guided needle targeting and needle trajectory accuracies were quantified in an image-guided tissue mimicking phantom experiment to be 178 ± 54 μm and 0.27 ± 0.65°, respectively. CONCLUSIONS An MR image-guided system for in-bore needle deliveries to soft tissue targets in small animal models has been developed. The results of the needle targeting accuracy experiments in phantoms indicate that this system has the potential to deliver needles to the smallest soft tissue structures relevant in preclinical studies, at a wide variety of needle trajectories. Future work in the form of a fully-automated needle driver with precise depth control would benefit this system in terms of its applicability to a wider range of animal models and organ targets.
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Affiliation(s)
- Matthew Gravett
- Robarts Research Institute, London, ON, N6A 5B7, Canada.,Biomedical Engineering, Western University, London, ON, N6A 5B9, Canada
| | - Jeremy Cepek
- Robarts Research Institute, London, ON, N6A 5B7, Canada.,Schulich School of Medicine & Dentistry, Western University, London, ON, N6A 5C1, Canada
| | - Aaron Fenster
- Robarts Research Institute, London, ON, N6A 5B7, Canada.,Biomedical Engineering, Western University, London, ON, N6A 5B9, Canada
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Stapleton S, Mirmilshteyn D, Zheng J, Allen C, Jaffray DA. Spatial Measurements of Perfusion, Interstitial Fluid Pressure and Liposomes Accumulation in Solid Tumors. J Vis Exp 2016. [PMID: 27583578 DOI: 10.3791/54226] [Citation(s) in RCA: 6] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/23/2023] Open
Abstract
The heterogeneous intra-tumoral accumulation of liposomes is a critical determinant of their efficacy. Both the chaotic tumor microcirculation and elevated IFP are linked to the heterogeneous intra-tumoral distribution of nanotechnology-based drug delivery systems such as liposomes. In the present study, the relationship between tumor microcirculation, elevated IFP, and accumulation of nanoparticles was investigated through in vivo experimentation. This was accomplished by evaluation of the tumor microcirculation using dynamic contrast enhanced computed tomography (DCE-CT) and measurement of tumor IFP using a novel image-guided robotic needle placement system connected to the micro-CT scanner. The intra-tumoral accumulation of liposomes was determined by CT image-based assessment of a nanoparticle liposomal formulation that stably encapsulate the contrast agent iohexol (CT-liposomes). CT imaging allowed for co-localization of the spatial distribution of tumor hemodynamics, IFP and CT-liposome accumulation in an individual subcutaneous xenograft mouse model of breast cancer. Measurements led to the discovery that perfusion and plasma volume fraction are strong mediators of the intra-tumoral distribution of liposomes. Furthermore, the results suggest that IFP plays an indirect role in mediating liposome distribution through modulating blood flow.
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Affiliation(s)
- Shawn Stapleton
- Department of Medical Biophysics, University of Toronto; Leslie Dan Faculty of Pharmacy, University of Toronto; STTARR Innovation Centre, Princess Margaret Cancer Centre;
| | | | - Jinzi Zheng
- STTARR Innovation Centre, Princess Margaret Cancer Centre; Institute of Biomaterials and Biomedical Engineering, University of Toronto
| | - Christine Allen
- Leslie Dan Faculty of Pharmacy, University of Toronto; Institute of Biomaterials and Biomedical Engineering, University of Toronto; Techna Institute, University Health Network
| | - David A Jaffray
- Department of Medical Biophysics, University of Toronto; Leslie Dan Faculty of Pharmacy, University of Toronto; STTARR Innovation Centre, Princess Margaret Cancer Centre; Institute of Biomaterials and Biomedical Engineering, University of Toronto; Techna Institute, University Health Network; Radiation Medicine Program, Princess Margaret Cancer Centre
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Stapleton S, Milosevic M, Tannock IF, Allen C, Jaffray DA. The intra-tumoral relationship between microcirculation, interstitial fluid pressure and liposome accumulation. J Control Release 2015; 211:163-70. [DOI: 10.1016/j.jconrel.2015.06.008] [Citation(s) in RCA: 51] [Impact Index Per Article: 5.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/17/2015] [Revised: 05/25/2015] [Accepted: 06/07/2015] [Indexed: 10/23/2022]
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Cornelis F, Takaki H, Laskhmanan M, Durack JC, Erinjeri JP, Getrajdman GI, Maybody M, Sofocleous CT, Solomon SB, Srimathveeravalli G. Comparison of CT Fluoroscopy-Guided Manual and CT-Guided Robotic Positioning System for In Vivo Needle Placements in Swine Liver. Cardiovasc Intervent Radiol 2014; 38:1252-60. [PMID: 25376924 DOI: 10.1007/s00270-014-1016-9] [Citation(s) in RCA: 21] [Impact Index Per Article: 2.1] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 07/25/2014] [Accepted: 09/08/2014] [Indexed: 01/08/2023]
Abstract
PURPOSE To compare CT fluoroscopy-guided manual and CT-guided robotic positioning system (RPS)-assisted needle placement by experienced IR physicians to targets in swine liver. MATERIALS AND METHODS Manual and RPS-assisted needle placement was performed by six experienced IR physicians to four 5 mm fiducial seeds placed in swine liver (n = 6). Placement performance was assessed for placement accuracy, procedure time, number of confirmatory scans, needle manipulations, and procedure radiation dose. Intra-modality difference in performance for each physician was assessed using paired t test. Inter-physician performance variation for each modality was analyzed using Kruskal-Wallis test. RESULTS Paired comparison of manual and RPS-assisted placements to a target by the same physician indicated accuracy outcomes was not statistically different (manual: 4.53 mm; RPS: 4.66 mm; p = 0.41), but manual placement resulted in higher total radiation dose (manual: 1075.77 mGy/cm; RPS: 636.4 mGy/cm; p = 0.03), required more confirmation scans (manual: 6.6; RPS: 1.6; p < 0.0001) and needle manipulations (manual: 4.6; RPS: 0.4; p < 0.0001). Procedure time for RPS was longer than manual placement (manual: 6.12 min; RPS: 9.7 min; p = 0.0003). Comparison of inter-physician performance during manual placement indicated significant differences in the time taken to complete placements (p = 0.008) and number of repositions (p = 0.04) but not in other study measures (p > 0.05). Comparison of inter-physician performance during RPS-assisted placement suggested statistically significant differences in procedure time (p = 0.02) and not in other study measures (p > 0.05). CONCLUSIONS CT-guided RPS-assisted needle placement reduced radiation dose, number of confirmatory scans, and needle manipulations when compared to manual needle placement by experienced IR physicians, with equivalent accuracy.
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Affiliation(s)
- F Cornelis
- Interventional Radiology Service, Department of Radiology, Memorial Sloan-Kettering Cancer Center, 1275 York Avenue, New York, NY, 10065, USA.,Department of Radiology, Pellegrin Hospital, Place Amélie Raba Léon, 33076, Bordeaux, France
| | - H Takaki
- Interventional Radiology Service, Department of Radiology, Memorial Sloan-Kettering Cancer Center, 1275 York Avenue, New York, NY, 10065, USA
| | - M Laskhmanan
- Perfint Healthcare Inc, Chennai, Tamil Nadu, India
| | - J C Durack
- Interventional Radiology Service, Department of Radiology, Memorial Sloan-Kettering Cancer Center, 1275 York Avenue, New York, NY, 10065, USA
| | - J P Erinjeri
- Interventional Radiology Service, Department of Radiology, Memorial Sloan-Kettering Cancer Center, 1275 York Avenue, New York, NY, 10065, USA
| | - G I Getrajdman
- Interventional Radiology Service, Department of Radiology, Memorial Sloan-Kettering Cancer Center, 1275 York Avenue, New York, NY, 10065, USA
| | - M Maybody
- Interventional Radiology Service, Department of Radiology, Memorial Sloan-Kettering Cancer Center, 1275 York Avenue, New York, NY, 10065, USA
| | - C T Sofocleous
- Interventional Radiology Service, Department of Radiology, Memorial Sloan-Kettering Cancer Center, 1275 York Avenue, New York, NY, 10065, USA
| | - S B Solomon
- Interventional Radiology Service, Department of Radiology, Memorial Sloan-Kettering Cancer Center, 1275 York Avenue, New York, NY, 10065, USA
| | - G Srimathveeravalli
- Interventional Radiology Service, Department of Radiology, Memorial Sloan-Kettering Cancer Center, 1275 York Avenue, New York, NY, 10065, USA.
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Eslami S, Yang Y, Wong J, Patterson MS, Iordachita I. An Integrated X-Ray/Optical Tomography System for Pre-clinical Radiation Research. PROCEEDINGS OF SPIE--THE INTERNATIONAL SOCIETY FOR OPTICAL ENGINEERING 2013; 8668:866830. [PMID: 25745539 DOI: 10.1117/12.2008060] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/14/2022]
Abstract
The current Small Animal Radiation Research Platform (SARRP) is poor for localizing small soft tissue targets for irradiation or tumor models growing in a soft tissue environment. Therefore, an imaging method complementary to x-ray CT is required to localize the soft tissue target's Center of Mass (CoM) to within 1 mm. In this paper, we report the development of an integrated x-ray/bioluminescence imaging/tomography (BLI/BLT) system to provide a pre-clinical, high resolution irradiation system. This system can be used to study radiation effects in small animals under the conebeam computed tomography (CBCT) imaging guidance by adding the bioluminescence imaging (BLI) system as a standalone system which can also be docked onto the SARRP. The proposed system integrates two robotic rotating stages and an x-ray source rated at maximum 130 kVp and having a small variable focal spot. A high performance and low noise CCD camera mounted in a light-tight housing along with an optical filter assembly is used for multi-wavelength BL tomography. A three-mirror arrangement is implemented to eliminate the need of rotating the CCD camera for acquiring multiple views. The mirror system is attached to a motorized stage to capture images in angles between 0-90° (for the standalone system). Camera and CBCT calibration are accomplished.
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Affiliation(s)
- S Eslami
- ERC - Computer-Integrated Surgical Systems and Technology (CISST), Johns Hopkins University, Baltimore, MD USA
| | - Y Yang
- Department of Radiation Oncology and Molecular Radiation Sciences, Johns Hopkins University School of Medicine, Baltimore, MD, USA
| | - J Wong
- Department of Radiation Oncology and Molecular Radiation Sciences, Johns Hopkins University School of Medicine, Baltimore, MD, USA
| | - M S Patterson
- Department of Medical Physics and Applied Radiation Sciences, McMaster University, Hamilton, ON, Canada
| | - I Iordachita
- ERC - Computer-Integrated Surgical Systems and Technology (CISST), Johns Hopkins University, Baltimore, MD USA
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