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Residual image registration error by fiducial markers in accelerated partial breast irradiation using C-arm linac: a phantom study. Phys Eng Sci Med 2022; 45:769-779. [PMID: 35657476 DOI: 10.1007/s13246-022-01142-2] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/14/2021] [Accepted: 05/16/2022] [Indexed: 10/18/2022]
Abstract
External beam accelerated partial breast irradiation (APBI) is an alternative treatment for patients with early-stage breast cancer. The efficacy of image-guided radiotherapy (IGRT) using fiducial markers, such as gold markers or surgical clips, has been demonstrated. However, the effects of respiratory motion during a single fraction have not been reported. This study aimed to evaluate the residual image registration error of fiducial marker-based IGRT by respiratory motion and propose a suitable treatment strategy. We developed an acrylic phantom embedded with surgical clips to verify the registration error under moving conditions. The frequency of the phase difference in the respiratory cycle due to sequential acquisition was verified in a preliminary study. Fiducial marker-based IGRT was then performed in ten scenarios. The residual registration error (RRE) was calculated on the basis of the differences in the coordinates of clips between the true position if not moved and the last position. The frequencies of the phase differences in 0.0-0.99, 1.0-1.99, 2.0-2.99, 3.0-3.99, and 4.0-5.0 mm were 23%, 24%, 22%, 20%, and 11%, respectively. When assuming a clinical case, the mean RREs for all directions were within 1.0 mm, even if respiratory motion of 5 mm existed in two axes. For APBI with fiducial marker-based IGRT, the introduction of an image registration strategy that employs stepwise couch correction using at least three orthogonal images should be considered.
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Bao N, Li A, Zhao W, Cui Z, Tian X, Yue Y, Li H, Qian W. Automated fiducial marker detection and fiducial point localization in CT images for lung biopsy image-guided surgery systems. JOURNAL OF X-RAY SCIENCE AND TECHNOLOGY 2019; 27:417-429. [PMID: 30958321 DOI: 10.3233/xst-180464] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.2] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/09/2023]
Abstract
In the lung biopsy image-guided surgery systems, the fiducial markers are used for point-based registration of the patient space to the CT image space. Fiducial marker detection and fiducial point localization in CT images have great influence on the accuracy of registration and guidance. This study proposes a fiducial marker detection approach based on the features of marker image slice sequences and a fiducial point localization approach according to marker projection images, without depending on the priori-knowledge of the marker default parameters provided by the manufacturers. The accuracy of our method was validated based on a CT image dataset of 24 patients. The experimental results showed that all 144 markers of 24 patients were correctly detected, and the fiducial points were localized with the average error of 0.35 mm. In addition, the localization accuracy of the proposed method was improved by an average of 12.5% compared with the accuracy of the previous method using the marker default parameters provided by the manufacturers. Thus, the study demonstrated that the proposed detection and localization methods are accurate and robust, which is quite encouraging to meet the requirement of future clinical applications in the image guided lung biopsy and surgery systems.
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Affiliation(s)
- Nan Bao
- Sino-Dutch Biomedical and Information Engineering School, Northeastern University, Shen Yang, Liao Ning, China
| | - Ang Li
- Sino-Dutch Biomedical and Information Engineering School, Northeastern University, Shen Yang, Liao Ning, China
| | - Wei Zhao
- Sino-Dutch Biomedical and Information Engineering School, Northeastern University, Shen Yang, Liao Ning, China
| | - Zhiming Cui
- Department of Computer Science, The University of Hong Kong, Hong Kong, China
| | - Xinhua Tian
- Department of Radiology, The Second Hospital of Jilin University, Chang Chun, Ji Lin, China
| | - Yong Yue
- Department of Radiology, ShengJing Hospital of China Medical University, Shen Yang, Liao Ning, China
| | - Hong Li
- Sino-Dutch Biomedical and Information Engineering School, Northeastern University, Shen Yang, Liao Ning, China
| | - Wei Qian
- Sino-Dutch Biomedical and Information Engineering School, Northeastern University, Shen Yang, Liao Ning, China
- Department of Electrical and Computer Engineering, University of Texas at El Paso, TX, USA
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Ono Y, Yoshimura M, Hirata K, Ono T, Hirashima H, Mukumoto N, Nakamura M, Inoue M, Hiraoka M, Mizowaki T. Dosimetric advantages afforded by a new irradiation technique, Dynamic WaveArc, used for accelerated partial breast irradiation. Phys Med 2018; 48:103-110. [PMID: 29728221 DOI: 10.1016/j.ejmp.2018.03.015] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 11/13/2017] [Revised: 03/13/2018] [Accepted: 03/23/2018] [Indexed: 12/25/2022] Open
Abstract
PURPOSE To identify dosimetric advantages of the novel Dynamic WaveArc (DWA) technique for accelerated partial breast irradiation (APBI), compared with non-coplanar three-dimensional conformal radiotherapy (nc3D-CRT) and coplanar tangential volumetric modulated arc therapy (tVMAT) with dual arcs of 45-65°. METHODS Vero4DRT enables DWA by continuous gantry rotation and O-ring skewing with movement of the multi-leaf collimator. We compared the dose distributions of DWA, nc3D-CRT and tVMAT in 24 consecutive left-sided breast cancer patients treated with APBI (38.5 Gy in 10 fractions). The average doses and volumes to the planning target volume (PTV) and organs at risk, especially heart and left anterior descending artery (LAD) were compared among DWA, nc3D-CRT and tVMAT. RESULTS The doses and volumes to the PTVs did not differ significantly among the three plans. For the DWA plans, the mean dose to the heart was 0.2 ± 0.1 Gy, less than those of the nc3D-CRT and tVMAT plans. The D2% values of the planning organ at risk volume of the LAD were 9.3 ± 10.9%, 28.2 ± 31.9% and 20.3 ± 25.7% for DWA, nc3D-CRT and tVMAT, respectively. The V20Gy and V10Gy of the ipsilateral lung for the DWA plans were also significantly lower. CONCLUSIONS DWA allowed to find a better compromise for OAR which overlapped with the PTV. Use of the DWA for APBI improved the dose distributions compared with those of nc3D-CRT and tVMAT.
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Affiliation(s)
- Yuka Ono
- Department of Radiation Oncology and Image-applied Therapy, Graduate School of Medicine, Kyoto University, 54 Shogoin Kawahara-cho, Sakyo-ku, Kyoto 606-8507, Japan
| | - Michio Yoshimura
- Department of Radiation Oncology and Image-applied Therapy, Graduate School of Medicine, Kyoto University, 54 Shogoin Kawahara-cho, Sakyo-ku, Kyoto 606-8507, Japan.
| | - Kimiko Hirata
- Department of Radiation Oncology and Image-applied Therapy, Graduate School of Medicine, Kyoto University, 54 Shogoin Kawahara-cho, Sakyo-ku, Kyoto 606-8507, Japan
| | - Tomohiro Ono
- Department of Radiation Oncology and Image-applied Therapy, Graduate School of Medicine, Kyoto University, 54 Shogoin Kawahara-cho, Sakyo-ku, Kyoto 606-8507, Japan
| | - Hideaki Hirashima
- Department of Radiation Oncology and Image-applied Therapy, Graduate School of Medicine, Kyoto University, 54 Shogoin Kawahara-cho, Sakyo-ku, Kyoto 606-8507, Japan
| | - Nobutaka Mukumoto
- Department of Radiation Oncology and Image-applied Therapy, Graduate School of Medicine, Kyoto University, 54 Shogoin Kawahara-cho, Sakyo-ku, Kyoto 606-8507, Japan
| | - Mitsuhiro Nakamura
- Department of Radiation Oncology and Image-applied Therapy, Graduate School of Medicine, Kyoto University, 54 Shogoin Kawahara-cho, Sakyo-ku, Kyoto 606-8507, Japan; Division of Medical Physics, Department of Information Technology and Medical Engineering, Human Health Sciences, Graduate School of Medicine, Kyoto University, 53 Kawahara-cho, Shogoin, Sakyo-ku, Kyoto, 606-8507, Japan
| | - Minoru Inoue
- Department of Radiation Oncology and Image-applied Therapy, Graduate School of Medicine, Kyoto University, 54 Shogoin Kawahara-cho, Sakyo-ku, Kyoto 606-8507, Japan
| | - Masahiro Hiraoka
- Department of Radiation Oncology and Image-applied Therapy, Graduate School of Medicine, Kyoto University, 54 Shogoin Kawahara-cho, Sakyo-ku, Kyoto 606-8507, Japan
| | - Takashi Mizowaki
- Department of Radiation Oncology and Image-applied Therapy, Graduate School of Medicine, Kyoto University, 54 Shogoin Kawahara-cho, Sakyo-ku, Kyoto 606-8507, Japan
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Luo X, Mori K, Peters TM. Advanced Endoscopic Navigation: Surgical Big Data, Methodology, and Applications. Annu Rev Biomed Eng 2018; 20:221-251. [PMID: 29505729 DOI: 10.1146/annurev-bioeng-062117-120917] [Citation(s) in RCA: 33] [Impact Index Per Article: 5.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/29/2022]
Abstract
Interventional endoscopy (e.g., bronchoscopy, colonoscopy, laparoscopy, cystoscopy) is a widely performed procedure that involves either diagnosis of suspicious lesions or guidance for minimally invasive surgery in a variety of organs within the body cavity. Endoscopy may also be used to guide the introduction of certain items (e.g., stents) into the body. Endoscopic navigation systems seek to integrate big data with multimodal information (e.g., computed tomography, magnetic resonance images, endoscopic video sequences, ultrasound images, external trackers) relative to the patient's anatomy, control the movement of medical endoscopes and surgical tools, and guide the surgeon's actions during endoscopic interventions. Nevertheless, it remains challenging to realize the next generation of context-aware navigated endoscopy. This review presents a broad survey of various aspects of endoscopic navigation, particularly with respect to the development of endoscopic navigation techniques. First, we investigate big data with multimodal information involved in endoscopic navigation. Next, we focus on numerous methodologies used for endoscopic navigation. We then review different endoscopic procedures in clinical applications. Finally, we discuss novel techniques and promising directions for the development of endoscopic navigation.
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Affiliation(s)
- Xiongbiao Luo
- Department of Computer Science, Fujian Key Laboratory of Computing and Sensing for Smart City, Xiamen University, Xiamen 361005, China;
| | - Kensaku Mori
- Department of Intelligent Systems, Graduate School of Informatics, Nagoya University, Nagoya 464-8601, Japan;
| | - Terry M Peters
- Robarts Research Institute, Western University, London, Ontario N6A 3K7, Canada;
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Kellermeier M, Herbolzheimer J, Kreppner S, Lotter M, Strnad V, Bert C. Electromagnetic tracking (EMT) technology for improved treatment quality assurance in interstitial brachytherapy. J Appl Clin Med Phys 2017; 18:211-222. [PMID: 28291934 PMCID: PMC5689872 DOI: 10.1002/acm2.12021] [Citation(s) in RCA: 14] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/24/2016] [Accepted: 10/27/2016] [Indexed: 11/09/2022] Open
Abstract
Electromagnetic Tracking (EMT) is a novel technique for error detection and quality assurance (QA) in interstitial high dose rate brachytherapy (HDR-iBT). The purpose of this study is to provide a concept for data acquisition developed as part of a clinical evaluation study on the use of EMT during interstitial treatment of breast cancer patients. The stability, accuracy, and precision of EMT-determined dwell positions were quantified. Dwell position reconstruction based on EMT was investigated on CT table, HDR table and PDR bed to examine the influence on precision and accuracy in a typical clinical workflow. All investigations were performed using a precise PMMA phantom. The track of catheters inserted in that phantom was measured by manually inserting a 5 degree of freedom (DoF) sensor while recording the position of three 6DoF fiducial sensors on the phantom surface to correct motion influences. From the corrected data, dwell positions were reconstructed along the catheter's track. The accuracy of the EMT-determined dwell positions was quantified by the residual distances to reference dwell positions after using a rigid registration. Precision and accuracy were investigated for different phantom-table and sensor-field generator (FG) distances. The measured precision of the EMT-determined dwell positions was ≤ 0.28 mm (95th percentile). Stability tests showed a drift of 0.03 mm in the first 20 min of use. Sudden shaking of the FG or (large) metallic objects close to the FG degrade the precision. The accuracy with respect to the reference dwell positions was on all clinical tables < 1 mm at 200 mm FG distance and 120 mm phantom-table distance. Phantom measurements showed that EMT-determined localization of dwell positions in HDR-iBT is stable, precise, and sufficiently accurate for clinical assessment. The presented method may be viable for clinical applications in HDR-iBT, like implant definition, error detection or quantification of uncertainties. Further clinical investigations are needed.
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Affiliation(s)
- Markus Kellermeier
- Department of Radiation Oncology, Universitätsklinikum Erlangen, Friedrich-Alexander-Universität Erlangen-Nürnberg, Universitätsstraße 27, 91054, Erlangen, Germany
| | - Jens Herbolzheimer
- Department of Radiation Oncology, Universitätsklinikum Erlangen, Friedrich-Alexander-Universität Erlangen-Nürnberg, Universitätsstraße 27, 91054, Erlangen, Germany
| | - Stephan Kreppner
- Department of Radiation Oncology, Universitätsklinikum Erlangen, Friedrich-Alexander-Universität Erlangen-Nürnberg, Universitätsstraße 27, 91054, Erlangen, Germany
| | - Michael Lotter
- Department of Radiation Oncology, Universitätsklinikum Erlangen, Friedrich-Alexander-Universität Erlangen-Nürnberg, Universitätsstraße 27, 91054, Erlangen, Germany
| | - Vratislav Strnad
- Department of Radiation Oncology, Universitätsklinikum Erlangen, Friedrich-Alexander-Universität Erlangen-Nürnberg, Universitätsstraße 27, 91054, Erlangen, Germany
| | - Christoph Bert
- Department of Radiation Oncology, Universitätsklinikum Erlangen, Friedrich-Alexander-Universität Erlangen-Nürnberg, Universitätsstraße 27, 91054, Erlangen, Germany
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Hirata K, Yoshimura M, Mukumoto N, Nakamura M, Inoue M, Sasaki M, Fujimoto T, Yano S, Nakata M, Mizowaki T, Hiraoka M. Three-dimensional intrafractional internal target motions in accelerated partial breast irradiation using three-dimensional conformal external beam radiotherapy. Radiother Oncol 2017; 124:118-123. [PMID: 28532607 DOI: 10.1016/j.radonc.2017.04.023] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/23/2016] [Revised: 04/15/2017] [Accepted: 04/19/2017] [Indexed: 10/19/2022]
Abstract
PURPOSE We evaluated three-dimensional intrafractional target motion, divided into respiratory-induced motion and baseline drift, in accelerated partial breast irradiation (APBI). METHODS Paired fluoroscopic images were acquired simultaneously using orthogonal kV X-ray imaging systems at pre- and post-treatment for 23 patients who underwent APBI with external beam radiotherapy. The internal target motion was calculated from the surgical clips placed around the tumour cavity. RESULTS The peak-to-peak respiratory-induced motions ranged from 0.6 to 1.5mm in all directions. A systematic baseline drift of 1.5mm towards the posterior direction and a random baseline drift of 0.3mm in the lateral-medial and cranial-caudal directions were observed. The baseline for an outer tumour cavity drifted towards the lateral and posterior directions, and that for an upper tumour cavity drifted towards the cranial direction. Moderate correlations were observed between the posterior baseline drift and the patients' physical characteristics. The posterior margin for intrafractional uncertainties was larger than 5mm in patients with greater fat thickness due to the baseline drift. CONCLUSIONS The magnitude of the intrafractional motion was not uniform according to the direction, patients' physical characteristics, or tumour cavity location due to the baseline drift. Therefore, the intrafractional systematic movement should be properly managed.
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Affiliation(s)
- Kimiko Hirata
- Department of Radiation Oncology and Image-applied Therapy, Kyoto University Graduate School of Medicine, Kyoto University, Japan
| | - Michio Yoshimura
- Department of Radiation Oncology and Image-applied Therapy, Kyoto University Graduate School of Medicine, Kyoto University, Japan.
| | - Nobutaka Mukumoto
- Department of Radiation Oncology and Image-applied Therapy, Kyoto University Graduate School of Medicine, Kyoto University, Japan
| | - Mitsuhiro Nakamura
- Department of Radiation Oncology and Image-applied Therapy, Kyoto University Graduate School of Medicine, Kyoto University, Japan
| | - Minoru Inoue
- Department of Radiation Oncology and Image-applied Therapy, Kyoto University Graduate School of Medicine, Kyoto University, Japan
| | - Makoto Sasaki
- Clinical Radiology Service Division, Kyoto University Hospital, Japan
| | - Takahiro Fujimoto
- Clinical Radiology Service Division, Kyoto University Hospital, Japan
| | - Shinsuke Yano
- Clinical Radiology Service Division, Kyoto University Hospital, Japan
| | - Manabu Nakata
- Clinical Radiology Service Division, Kyoto University Hospital, Japan
| | - Takashi Mizowaki
- Department of Radiation Oncology and Image-applied Therapy, Kyoto University Graduate School of Medicine, Kyoto University, Japan
| | - Masahiro Hiraoka
- Department of Radiation Oncology and Image-applied Therapy, Kyoto University Graduate School of Medicine, Kyoto University, Japan
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Inoue M, Yoshimura M, Sato S, Nakamura M, Yamada M, Hirata K, Sasaki M, Fujimoto T, Ogura M, Hiraoka M. Improvement of registration accuracy in accelerated partial breast irradiation using the point-based rigid-body registration algorithm for patients with implanted fiducial markers. Med Phys 2015; 42:1904-10. [DOI: 10.1118/1.4915534] [Citation(s) in RCA: 7] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022] Open
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