Optical High-Precision Three-Dimensional Position Measurement System Suitable for Head Motion Tracking in Frameless Stereotactic Radiosurgery

Historical Progress of Stereotactic Radiation Surgery

Radiosurgery and stereotactic radiotherapy have established themselves as precise and accurate areas of radiation oncology for the treatment of brain and extracranial lesions. Along with the evolution of other methods of radiotherapy, this type of treatment has been associated with significant advances in terms of a variety of modalities and techniques to improve the accuracy and efficacy of treatment. This paper provides a comprehensive overview of the progress in stereotactic radiosurgery (SRS) over several decades, and includes a review of various articles and research papers, commencing with the emergence of stereotactic techniques in radiotherapy. Key clinical aspects of SRS, such as fixation methods, radiobiology considerations, quality assurance practices, and treatment planning strategies, are presented. In addition, the review highlights the technological advancements in treatment modalities, encompassing the transition from cobalt-based systems to linear accelerator-based modalities. By addressing these topics, this study aims to offer insights into the advancements that have shaped the field of SRS, that have ultimately enhanced the accuracy and effectiveness of treatment.

Advances and potential of optical surface imaging in radiotherapy

This article reviews the recent advancements and future potential of optical surface imaging (OSI) in clinical applications as a four-dimensional (4D) imaging modality for surface-guided radiotherapy (SGRT), including OSI systems, clinical SGRT applications, and OSI-based clinical research. The OSI is a non-ionizing radiation imaging modality, offering real-time 3D surface imaging with a large field of view (FOV), suitable for in-room interactive patient setup, and real-time motion monitoring at any couch rotation during radiotherapy. So far, most clinical SGRT applications have focused on treating superficial breast cancer or deep-seated brain cancer in rigid anatomy, because the skin surface can serve as tumor surrogates in these two clinical scenarios, and the procedures for breast treatments in free-breathing (FB) or at deep-inspiration breath-hold (DIBH), and for cranial stereotactic radiosurgery (SRS) and radiotherapy (SRT) are well developed. When using the skin surface as a body-position surrogate, SGRT promises to replace the traditional tattoo/laser-based setup. However, this requires new SGRT procedures for all anatomical sites and new workflows from treatment simulation to delivery. SGRT studies in other anatomical sites have shown slightly higher accuracy and better performance than a tattoo/laser-based setup. In addition, radiographical image-guided radiotherapy (IGRT) is still necessary, especially for stereotactic body radiotherapy (SBRT). To go beyond the external body surface and infer an internal tumor motion, recent studies have shown the clinical potential of OSI-based spirometry to measure dynamic tidal volume as a tumor motion surrogate, and Cherenkov surface imaging to guide and assess treatment delivery. As OSI provides complete datasets of body position, deformation, and motion, it offers an opportunity to replace fiducial-based optical tracking systems. After all, SGRT has great potential for further clinical applications. In this review, OSI technology, applications, and potential are discussed since its first introduction to radiotherapy in 2005, including technical characterization, different commercial systems, and major clinical applications, including conventional SGRT on top of tattoo/laser-based alignment and new SGRT techniques attempting to replace tattoo/laser-based setup. The clinical research for OSI-based tumor tracking is reviewed, including OSI-based spirometry and OSI-guided tumor tracking models. Ongoing clinical research has created more SGRT opportunities for clinical applications beyond the current scope.

Computer-assisted pelvic tumor resection: fields of application, limits, and perspectives

The treatment of malignant tumors involving the pelvic area is a challenging problem in musculoskeletal oncology due to the complex pelvic anatomy and the often large tumor size at presentation. The use of navigation systems has effectively increased surgical precision aiming at optimal preservation of pelvic structures without compromising oncologic outcome by means of improved visibility of the surgical field, and enabling intraoperative display and 3D reproduction of preoperatively determined pelvic osteotomy and resection levels. In the following sections, current developments in computer-assisted pelvic surgery are reviewed and possible fields of application, as well as limitations of navigation systems, are discussed.

Advanced image-guided external beam radiotherapy

The goal of radiation therapy is to eradicate tumor stem cells while sparing healthy tissue. Therefore, the first aim must be to delineate tumor from healthy tissue. Advanced imaging techniques will enable one to reduce the uncertainty of microscopic extension of disease. Ultimately, advanced functional imaging systems correlated with image-registered pathological specimens will allow one to delineate disease extent from normal tissue at the tumor periphery. When it is not possible to determine the CTV margin with reasonable certainty, the margins must remain generous and conformal avoidance methodology could and should be deployed to spare critical normal structures. Of equal importance to defining the CTV is the need to guarantee that this target is indeed treated. For this purpose, image guidance using a variety of systems including portal images, ultrasound devices, and CT scanners at the time of treatment has been implemented. Some image-guided methods, portal images for instance, are more amenable for use with rigid structures such as encountered in the sinus whereas others like ultrasound or CT scanners are able to account for nonrigid setup variations. Several strategies for preventing organ motion from degrading the precision that radiotherapy offers have been described. In particular, a CT scan at the time of treatment delivery can also be used as the basis to reconstruct the dose received by the patient. Dose reconstruction will allow the dose just delivered to be superimposed on the pretreatment CT scan and will allow one to compare the reconstructed delivered dose distribution with the planned dose distribution to assess discrepancies between these. Furthermore, reconstruction of the delivered dose distributions holds the promise of allowing one to accumulate dose delivered to the tumor and normal structures on a fraction per fraction basis. This will ultimately allow for the determination of treatment-specific tumor control probabilities and normal tissue complication probabilities.

Cyberknife Radiosurgery for Basal Skull Plasmacytoma

The Cyberknife delivers frameless image-guided stereotactic radiosurgery to intracranial and extracranial tumors. We report our use of Cyberknife radiosurgery on a medullary plasmacytoma in the clivus extending into the foramen magnum. No acute toxicity was seen during or within 24 hours of treatment, and the subject had a complete and durable radiographic response on MRI 12+ months after treatment. To our knowledge, this is a first case of successful Cyberknife radiosurgery of a medullary plasmacytoma.

Real-time 3D-surface-guided head refixation useful for fractionated stereotactic radiotherapy

Accurate and precise head refixation in fractionated stereotactic radiotherapy has been achieved through alignment of real-time 3D-surface images with a reference surface image. The reference surface image is either a 3D optical surface image taken at simulation with the desired treatment position, or a CT/MRI-surface rendering in the treatment plan with corrections for patient motion during CT/MRI scans and partial volume effects. The real-time 3D surface images are rapidly captured by using a 3D video camera mounted on the ceiling of the treatment vault. Any facial expression such as mouth opening that affects surface shape and location can be avoided using a new facial monitoring technique. The image artifacts on the real-time surface can generally be removed by setting a threshold of jumps at the neighboring points while preserving detailed features of the surface of interest. Such a real-time surface image, registered in the treatment machine coordinate system, provides a reliable representation of the patient head position during the treatment. A fast automatic alignment between the real-time surface and the reference surface using a modified iterative-closest-point method leads to an efficient and robust surface-guided target refixation. Experimental and clinical results demonstrate the excellent efficacy of <2 min set-up time, the desired accuracy and precision of <1 mm in isocenter shifts, and <1 degree in rotation.

Advanced-technology radiation therapy in the management of bone and soft tissue sarcomas

BACKGROUND

For patients with sarcomas, radiotherapy can be used as neoadjuvant, adjuvant, or primary local therapy, depending on the site and type of sarcoma, the surgical approach, and the efficacy of chemotherapy.

METHODS

The authors review the current status of advanced technology radiation therapy in the management of bone and soft tissue sarcoma.

RESULTS

Advances in radiotherapy have resulted in improved treatment for bone and soft tissue sarcomas. Intensity-modulated radiation therapy (IMRT) uses modifications in the intensity of the photon-beam from a linear accelerator across the irradiated fields to enhance dose conformation in three dimensions. For proton-beam radiation therapy, the nuclei of hydrogen atoms are accelerated in cyclotrons or synchrotrons, extracted, and transported to treatment rooms where the proton beam undergoes a series of modifications that conform the dose in a particular patient to the tumor target. Brachytherapy and intraoperative radiation therapy have generally been used to treat microscopic residual disease in patients with sarcomas. These technologies deliver dose to tumor cells with irradiation of limited volumes of normal tissue. Patients who may benefit from technically advanced radiotherapy include those with skull base and spine/paraspinal sarcomas, Ewing's sarcoma, and retroperitoneal/extremity sarcomas.

CONCLUSIONS

Advances in radiation therapy technology, particularly IMRT, proton-beam or other charged-particle radiation therapy, brachytherapy, and intraoperative radiation therapy, have led to improved treatment for patients with bone and soft tissue sarcomas.

Optically Guided Patient Positioning Techniques

Optical tracking determines an object's position by measuring light either emitted or reflected from the object. The hallmark of optical tracking systems is their high spatial resolution and measurement in real time; such systems can resolve the position of a point source within a fraction of a millimeter and report at a rate of 10 Hz or faster. Several systems have been developed for radiation therapy, all of which track infrared markers attached to the patient's external surface. The positions of the optical markers relative to the target volume, together with the desired marker positions relative to treatment isocenter, are determined during computed tomography simulation. In the treatment room, the real marker positions are measured relative to isocenter; rigid-body mathematics then determine marker displacements from their desired positions and hence target displacement from isocenter. Real-time feedback allows one to correct the patient's position. The first systems were used for intracranial stereotaxis radiotherapy; rigid arrays of optical markers were attached to the patient via a biteplate linkage. Subsequent systems for extracranial radiotherapy tracked external markers to determine patient position and/or gate the radiation beam based on patient motion. Lastly, optical tracking has been integrated with ultrasound or stereoscopic x-ray imaging to determine the position of internal anatomy targets relative to isocenter.

Computed tomography-based navigation for hip, knee, and spine surgery

A review of CT-based orthopaedic navigation is presented with a specific emphasis on arthroplasty for the hip and the knee. Fundamental issues about the laboratory and clinical validation of the applications are addressed. The ability to compute the position and orientation of an acetabular implant using a postoperative CT scan was investigated. Angle deviations relative to known positions were computed with an error of less than 1 degree. Then, the system accuracy for three-dimensional reconstruction and registration of two cadaveric pelvis specimens was measured with more than 350 registrations. We observed a maximal inclination error of 5 degrees in 99% of cases and a maximal anteversion error of 5 degrees in 97% of cases. The accuracy of the three-dimensional reconstruction and registration for knee arthroplasty also was measured and computed with an angular accuracy of 0.5 degrees in the AP plane and accuracy of 3 degrees in the lateral plane. A clinical study then was done in 109 cases where 96% of implants were installed with a hip-knee-ankle angle of 180 +/- 3 degrees . Computed tomography-based navigation for orthopaedic surgery provides greater accuracy and reproducibility than conventional surgery. As noted by learning curves, software improvements are needed to bring it into daily clinical routine.

Commissioning and quality assurance of an optically guided three-dimensional ultrasound target localization system for radiotherapy

Recently, there has been proliferation of image-guided positioning systems for high-precision radiation therapy, with little attention given to quality assurance procedures for such systems. To ensure accurate treatment delivery, errors in the imaging, localization, and treatment delivery processes must be systematically analyzed. This paper details acceptance tests for an optically guided three-dimensional (3D) ultrasound system used for patient localization. While all tests were performed using the same commercial system, the general philosophy and procedures are applicable to all systems utilizing image guidance. Determination of absolute localization accuracy requires a consistent stereotactic, or three-dimensional, coordinate system in the treatment planning system and the treatment vault. We established such a coordinate system using optical guidance. The accuracy of this system for localization of spherical targets imbedded in a phantom at depths ranging from 3 to 13 cm was determined to be (average +/- standard deviation) AP = 0.2 +/- 0.7 mm, Lat = 0.9 +/- 0.6 mm, Ax = 0.6 +/- 1.0 mm. In order to test the ability of the optically guided 3D ultrasound localization system to determine the magnitude of an internal organ shift with respect to the treatment isocenter, a phantom that closely mimics the typical human male pelvic anatomy was used. A CT scan of the phantom was acquired, and the regions of interest were contoured. With the phantom on the treatment couch, optical guidance was used to determine the positions of each organ to within imaging uncertainty, and to align the phantom so the plan and treatment machine coordinates coincided. To simulate a clinical misalignment of the treatment target, the phantom was then shifted by different precise offsets, and an experimenter blind to the offsets used ultrasound guidance to determine the magnitude of the shifts. On average, the magnitude of the shifts could be determined to within 1.0 mm along each axis.

Quantifying head motion associated with motor tasks used in fMRI

In functional magnetic resonance imaging (fMRI) studies, long experiment times and small intensity changes associated with brain activation frequently lead to image artifacts due to head motion. Methods to minimize and correct for head motion by restraint, fast imaging, and retrospective image registration are typically combined but do not completely solve the problem, particularly for specific patient populations. As an initial step toward optimizing future designs of head restraints and improving motion correction techniques, the head motion characteristics of groups of stroke subjects, age-matched controls, and young adults were investigated with the aid of an MR simulator and a highly accurate position tracking system. Position measurements were recorded during motor tasks involving either the hand or the foot. Head motion was strongly dependent on the subject group and less upon the task conditions based on ANOVA calculations (P < 0.05). The stroke subjects exhibited approximately twice the head motion compared to that of age-matched controls, and the latter's head motion was about twice that of young adults. Moreover, the range of head motion in stroke subjects over all tasks was approximately 2 +/- 1 mm, with the motion occurring predominantly as translation in the superior-inferior direction and pitch rotation (nodding). These results lead to several recommendations on the design of fMRI motor experiments and suggest that improved motion correction strategies are required to examine such patient populations comprehensively.