Validation of clinical acceptability of deep-learning-based automated segmentation of organs-at-risk for head-and-neck radiotherapy treatment planning

Introduction

Organ-at-risk segmentation for head and neck cancer radiation therapy is a complex and time-consuming process (requiring up to 42 individual structure, and may delay start of treatment or even limit access to function-preserving care. Feasibility of using a deep learning (DL) based autosegmentation model to reduce contouring time without compromising contour accuracy is assessed through a blinded randomized trial of radiation oncologists (ROs) using retrospective, de-identified patient data.

Methods

Two head and neck expert ROs used dedicated time to create gold standard (GS) contours on computed tomography (CT) images. 445 CTs were used to train a custom 3D U-Net DL model covering 42 organs-at-risk, with an additional 20 CTs were held out for the randomized trial. For each held-out patient dataset, one of the eight participant ROs was randomly allocated to review and revise the contours produced by the DL model, while another reviewed contours produced by a medical dosimetry assistant (MDA), both blinded to their origin. Time required for MDAs and ROs to contour was recorded, and the unrevised DL contours, as well as the RO-revised contours by the MDAs and DL model were compared to the GS for that patient.

Results

Mean time for initial MDA contouring was 2.3 hours (range 1.6-3.8 hours) and RO-revision took 1.1 hours (range, 0.4-4.4 hours), compared to 0.7 hours (range 0.1-2.0 hours) for the RO-revisions to DL contours. Total time reduced by 76% (95%-Confidence Interval: 65%-88%) and RO-revision time reduced by 35% (95%-CI,-39%-91%). All geometric and dosimetric metrics computed, agreement with GS was equivalent or significantly greater (p<0.05) for RO-revised DL contours compared to the RO-revised MDA contours, including volumetric Dice similarity coefficient (VDSC), surface DSC, added path length, and the 95%-Hausdorff distance. 32 OARs (76%) had mean VDSC greater than 0.8 for the RO-revised DL contours, compared to 20 (48%) for RO-revised MDA contours, and 34 (81%) for the unrevised DL OARs.

Conclusion

DL autosegmentation demonstrated significant time-savings for organ-at-risk contouring while improving agreement with the institutional GS, indicating comparable accuracy of DL model. Integration into the clinical practice with a prospective evaluation is currently underway.

Automated testing platform for radiotherapy treatment planning scripts

Realizing the potential of user-developed automation software interacting with a treatment planning system (TPS) requires rigorous testing to ensure patient safety and data integrity. We developed an automated test platform to allow comparison of the treatment planning database before and after the execution of a write-enabled script interacting with a commercial TPS (Eclipse, Varian Medical Systems, Palo Alto, CA) using the vendor-provided Eclipse Scripting Application Programming Interface (ESAPI). The C#-application known as Write-Enable Script Testing Engine (WESTE) serializes the treatment planning objects (Patient, Structure Set, PlanSetup) accessible through ESAPI, and then compares the serialization acquired before and after the execution of the script being tested, documenting identified differences to highlight the changes made to the treatment planning data. The first two uses of WESTE demonstrated that the testing platform could acquire and analyze the data quickly (<4 s per test case) and facilitate the clinical implementation of write-enabled scripts.

Implementation of free breathing respiratory amplitude-gated treatments

Purpose

The purpose of this study was to provide guidance in developing and implementing a process for the accurate delivery of free breathing respiratory amplitude‐gated treatments.

Methods

A phase‐based 4DCT scan is acquired at time of simulation and motion is evaluated to determine the exhale phases that minimize respiratory motion to an acceptable level. A phase subset average CT is then generated for treatment planning and a tracking structure is contoured to indicate the location of the target or a suitable surrogate over the planning phases. Prior to treatment delivery, a 4DCBCT is acquired and a phase subset average is created to coincide with the planning phases for an initial match to the planning CT. Fluoroscopic imaging is then used to set amplitude gate thresholds corresponding to when the target or surrogate is in the tracking structure. The final imaging prior to treatment is an amplitude‐gated CBCT to verify both the amplitude gate thresholds and patient positioning. An amplitude‐gated treatment is then delivered. This technique was commissioned using an in‐house lung motion phantom and film measurements of a simple two‐field 3D plan.

Results

The accuracy of 4DCBCT motion and target position measurements were validated relative to 4DCT imaging. End to end testing showed strong agreement between planned and film measured dose distributions. Robustness to interuser variability and changes in respiratory motion were demonstrated through film measurements.

Conclusions

The developed workflow utilizes 4DCBCT, respiratory‐correlated fluoroscopy, and gated CBCT imaging in an efficient and sequential process to ensure the accurate delivery of free breathing respiratory‐gated treatments.

A frequency-based approach to locate common structure for 2D-3D intensity-based registration of setup images in prostate radiotherapy

In many radiotherapy clinics, geometric uncertainties in the delivery of 3D conformal radiation therapy and intensity modulated radiation therapy of the prostate are reduced by aligning the patient's bony anatomy in the planning 3D CT to corresponding bony anatomy in 2D portal images acquired before every treatment fraction. In this paper, we seek to determine if there is a frequency band within the portal images and the digitally reconstructed radiographs (DRRs) of the planning CT in which bony anatomy predominates over non-bony anatomy such that portal images and DRRs can be suitably filtered to achieve high registration accuracy in an automated 2D-3D single portal intensity-based registration framework. Two similarity measures, mutual information and the Pearson correlation coefficient were tested on carefully collected gold-standard data consisting of a kilovoltage cone-beam CT (CBCT) and megavoltage portal images in the anterior-posterior (AP) view of an anthropomorphic phantom acquired under clinical conditions at known poses, and on patient data. It was found that filtering the portal images and DRRs during the registration considerably improved registration performance. Without filtering, the registration did not always converge while with filtering it always converged to an accurate solution. For the pose-determination experiments conducted on the anthropomorphic phantom with the correlation coefficient, the mean (and standard deviation) of the absolute errors in recovering each of the six transformation parameters were Theta(x):0.18(0.19) degrees, Theta(y):0.04(0.04) degrees, Theta(z):0.04(0.02) degrees, t(x):0.14(0.15) mm, t(y):0.09(0.05) mm, and t(z):0.49(0.40) mm. The mutual information-based registration with filtered images also resulted in similarly small errors. For the patient data, visual inspection of the superimposed registered images showed that they were correctly aligned in all instances. The results presented in this paper suggest that robust and accurate registration can be achieved with intensity-based methods by focusing on rigid bony structures in the images while diminishing the influence of artifacts with similar frequencies as soft tissue.

Compensators for dose and scatter management in cone-beam computed tomography

The ability of compensators (e.g., bow-tie filters) designed for kV cone-beam computed tomography (CT) to reduce both scatter reaching the detector and dose to the patient is investigated. Scattered x rays reaching the detector are widely recognized as one of the most significant challenges to cone-beam CT imaging performance. With cone-beam CT gaining popularity as a method of guiding treatments in radiation therapy, any methods that have the potential to reduce the dose to patients and/or improve image quality should be investigated. Simple compensators with a design that could realistically be implemented on a cone-beam CT imaging system have been constructed to determine the magnitude of reduction of scatter and/or dose for various cone-beam CT imaging conditions. Depending on the situation, the compensators were shown to reduce x-ray scatter at the detector and dose to the patient by more than a factor of 2. Further optimization of the compensators is a possibility to achieve greater reductions in both scatter and dose.

Intravenous contrast-enhanced cone beam computed tomography (IVCBCT) of intrahepatic tumors and vessels

Purpose

Liver tumors are challenging to visualize on cone beam computed tomography (CBCT) without intravenous (IV) contrast. Image guidance for liver cancer stereotactic body ablative radiation therapy (SABR) could be improved with the direct visualization of hepatic tumors and vasculature. This study investigated the feasibility of the use of IV contrast-enhanced CBCT (IV-CBCT) as a means to improve liver target visualization.

Methods and Materials

Patients on a liver SABR protocol underwent IV-CBCT before 1 or more treatment fractions in addition to a noncontrast CBCT. Image acquisition was initiated 0 to 30 seconds following injection and acquired over 60 to 120 seconds. “Stop and go” exhale breath-hold CBCT scans were used whenever feasible. Changes in mean CT number in regions of interest within visible vasculature, tumor, and adjacent liver were quantified between CBCT and IV-CBCT.

Results

Twelve pairs of contrast and noncontrast CBCTs were obtained in 7 patients. Intravenous-CBCT improved hepatic tumor visibility in breath-hold scans only for 3 patients (2 metastases, 1 hepatocellular carcinoma). Visible tumors ranged in volume from 124 to 564 mL. Small tumors in free-breathing patients did not show enhancement on IVCBT.

Conclusions

Intravenous-CBCT may enhance the visibility of hepatic vessels and tumor in CBCT scans obtained during breath hold. Optimization of IV contrast timing and reduction of artifacts to improve tumor visualization warrant further investigation.

The Impact of Evolving Image-Guidance Processes on Initial Patient Setup for Lung Radiotherapy

PURPOSE

The purpose of this study was to investigate whether the implementation of three different daily image-guidance processes has altered initial (pre-imaging) patient setup practice for thoracic radiotherapy patients.

METHODS

A total of 1 997 daily cone-beam computed tomography (CBCT) images from 72 thoracic patients undergoing radical radiotherapy were retrospectively reviewed under ethics approval. Patients were analyzed in three consecutive cohorts grouped according to the image-guidance process used during radiotherapy. After initial alignment of skin marks and lasers: Process A (24 patients spanning 6 months), CBCT alignment with an action level of 3 mm, correction applied via manual couch adjustment, followed by a verification CBCT; Process B (22 patients, 5 months), CBCT alignment with an action level of 3 mm, correction applied via remote couch adjustment, followed by a verification CBCT; Process C (26 patients, 5 months), CBCT alignment with correction applied for all displacements via remote couch adjustment, with no verification scans required. Initial patient setup displacements from skin marks were determined by re-registering the initial alignment CBCT to the planning CT using automated spine matching. Patient setup displacements were compared between the three processes in the left-right (LR), cranial-caudal (CC), and anterior-posterior (AP) directions.

RESULTS

The mean ± 1 standard deviation of initial patient setup displacements were calculated for each cohort: Process A, 1.2 ± 2.4 mm (LR), 0.6 ± 3.5 mm (CC), and -0.8 ± 2.0 mm (AP); Process B, 0.5 ± 2.7 mm (LR), 1.2 ± 3.4 mm (CC) and -1.7 ± 2.0 mm (AP); Process C, 1.0 ± 2.5 mm (LR), 0.1 ± 3.5 mm (CC), and -2.3 ± 2.2 mm (AP). The means systematic and random uncertainties were comparable between the processes, showing similar setup error distributions.

CONCLUSION

Initial skin setup practices for thoracic radiotherapy patients remain unaffected across the three image-guidance processes. Pre-imaging alignment principles and performance by radiation therapists at our center remain consistent amid technological advances.

Interfraction and intrafraction changes in amplitude of breathing motion in stereotactic liver radiotherapy

PURPOSE

Interfraction and intrafraction changes in amplitude of liver motion were assessed in patients with liver cancer treated with kV cone beam computed tomography (CBCT)-guided stereotactic body radiation therapy (SBRT).

METHODS AND MATERIALS

A total of 314 CBCTs obtained with the patient in the treatment position immediately before and after each fraction, and 29 planning 4DCTs were evaluated in 29 patients undergoing six-fraction SBRT for unresectable liver cancer, with (n = 15) and without (n = 14) abdominal compression. Offline, the CBCTs were sorted into 10 bins, based on phase of respiration. Liver motion amplitude was measured using liver-to-liver alignment from the end-exhale and end-inhale CBCT and four-dimensional CT reconstructions. Inter- and intrafraction amplitude changes were measured from the difference between the pre-SBRT CBCTs relative to the planning four-dimensional CT, and from the pre-SBRT and post-SBRT CBCTs, respectively.

RESULTS

Mean liver motion amplitude for all patients (range) was 1.8 (0.1-7.0), 8.0 (0.1-18.8), and 4.3 (0.1-12.1) mm in the mediolateral (ML), craniocaudal (CC), and anteroposterior (AP) directions, respectively. Mean absolute inter- and intrafraction liver motion amplitude changes were 1.0 (ML), 1.7 (CC), and 1.6 (AP) mm and 1.3 (ML), 1.6 (CC), and 1.9 (AP) mm, respectively. No significant correlations were found between intrafraction amplitude change and intrafraction time (range, 4:56-25:37 min:sec), and between inter- and intrafraction amplitude changes and liver motion amplitude. Intraobserver reproducibility (sigma, n = 29 fractions) was 1.3 (ML), 1.4 (CC), and 1.4 (AP) mm.

CONCLUSIONS

For the majority of liver SBRT patients, the change in liver motion amplitude was minimal over the treatment course and showed no apparent relationships with the magnitude of liver motion and intrafraction time.

Setup reproducibility for thoracic and upper gastrointestinal radiation therapy: Influence of immobilization method and on-line cone-beam CT guidance

We report the setup reproducibility of thoracic and upper gastrointestinal (UGI) radiotherapy (RT) patients for 2 immobilization methods evaluated through cone-beam computed tomography (CBCT) image guidance, and present planning target volume (PTV) margin calculations made on the basis of these observations. Daily CBCT images from 65 patients immobilized in a chestboard (CB) or evacuated cushion (EC) were registered to the planning CT using automatic bony anatomy registration. The standardized region-of-interest for matching was focused around vertebral bodies adjacent to tumor location. Discrepancies >3 mm between the CBCT and CT datasets were corrected before initiation of RT and verified with a second CBCT to assess residual error (usually taken after 90 s of the initial CBCT). Positional data were analyzed to evaluate the magnitude and frequencies of setup errors before and after correction. The setup distributions were slightly different for the CB (797 scans) and EC (757 scans) methods, and the probability of adjustment at a 3-mm action threshold was not significantly different (p = 0.47). Setup displacements >10 mm in any direction were observed in 10% of CB fractions and 16% of EC fractions (p = 0.0008). Residual error distributions after CBCT guidance were equivalent regardless of immobilization method. Using a published formula, the PTV margins for the CB were L/R, 3.3 mm; S/I, 3.5 mm; and A/P, 4.6 mm), and for EC they were L/R, 3.7 mm; S/I, 3.3 mm; and A/P, 4.6 mm. In the absence of image guidance, the CB slightly outperformed the EC in precision. CBCT allows reduction to a single immobilization system that can be chosen for efficiency, logistics, and cost. Image guidance allows for increased geometric precision and accuracy and supports a corresponding reduction in PTV margin.

Accuracy of automatic couch corrections with on-line volumetric imaging

The purpose of this study was to characterize automatic remote couch adjustment and to assess the accuracy of automatic couch corrections following localization with cone‐beam CT (CBCT). Automatic couch movement was evaluated through passive reflector markers placed on a phantom, tracked with an optical tracking system (OTS). Repeated couch movements in the lateral, cranial/caudal, and vertical directions were monitored through the OTS to assess velocity and response time. In conjunction with CBCT, remote table movement for patient displacements following initial setup was available on four linear accelerators (Elekta Synergy). After the initial CBCT scan assessment, patients with isocenter displacements that exceeded clinical protocol tolerances were corrected using remote automatic couch movement. A verification CBCT scan was acquired after any remote movements. These verification CBCT datasets were assessed for the following time periods: one month post clinical installation, and six months later to monitor remote couch correction stability. Residual error analysis was evaluated using the verification scans. The mean ± standard deviations (μ±σ) of couch movement based on phantom measurements with the OTS were 0.16±0.48mm,0.32±0.30mm,0.11±0.12mm in the L/R, A/P, and S/I couch directions, respectively. The fastest maximum velocity was observed in the inferior direction at 10.5 mm/s, and the slowest maximum velocity in the left direction at 3.6 mm/s. From 1134 verification CBCT registrations for 207 patients, the residual error for each translational direction from each month evaluated are reported. The μ was less than 0.3 mm in all directions, and σ was in the order of 1 mm. At a 3 mm threshold, 21 of the 1134 fractions (2%) exceeded tolerance, attributed to patient intrafraction movement. Remote automatic couch movement is reliable and effective for adjusting patient position with a precision of approximately 1 mm. Patient residual error observed in this study demonstrates that displacement is minimal after remote couch adjustment.

PACS number: 87.55.Qr, 87.56.bd, 87.57.Q

Improving image-guided target localization through deformable registration

PURPOSE

To quantify the improvements in online target localization using kV cone beam CT (CBCT) with deformable registration.

METHODS AND MATERIAL

Twelve patients treated under a 6 fraction liver cancer radiation therapy protocol were imaged in breath hold using kV CBCT at each treatment fraction. The images were imported into the treatment planning software and rigidly registered by fitting the liver, identified on the daily kV CBCT image, into the liver contours, previously drawn on the planning CT. The liver was then manually contoured on each CBCT image. Deformable registration was automatically performed, aligning the CT liver to the liver on each CBCT image using MORFEUS, a biomechanical model based deformable registration algorithm. The tumor, defined on planning CT, was mapped onto the CBCT, through MORFEUS. The center of mass (COM) displacement of the tumor was computed.

RESULTS

The mean (SD) displacement magnitude (absolute value) of the COM following deformable registration was 0.08 (0.07), 0.10 (0.11), and 0.10 (0.17) cm in the left-right (LR), anterior-posterior (AP), and superior-inferior (SI) directions, respectively. The maximum displacement of the COM was 0.34, 0.65, and 0.97 cm in the LR, AP, and SI directions, respectively. Fifteen percent of the treatment fractions had a COM displacement of greater than 0.3 cm and 33% of patients had at least 1 fraction with a displacement of greater than 0.3 cm. The deformable registration, excluding the manual contouring of the liver, was performed in less than 1 minute, on average.

DISCUSSION

Rigid registration of the liver volume between planning CT and verification kV CBCT localizes the tumor to within 0.3 cm for the majority (66%) of patients; however, larger offsets in tumor position can be observed due to liver deformation.

Respiration correlated cone-beam computed tomography and 4DCT for evaluating target motion in Stereotactic Lung Radiation Therapy

An image-guidance process for using cone-beam computed tomography (CBCT) for stereotactic body radiation therapy (SBRT) of peripheral lung lesions is presented. Respiration correlated CBCT on the treatment unit and four dimensional computed tomography (4DCT) from planning are evaluated for assessing respiration-induced target motion during planning and treatment fractions. Image-guided SBRT was performed for 12 patients (13 lesions) with inoperable early stage non-small cell lung carcinoma. Kilovoltage (kV) projections were acquired over a 360 degree gantry rotation and sorted based on the pixel value of an image-based aperture located at the air-tissue interface of the diaphragm. The sorted projections were reconstructed to provide volumetric respiration correlated CBCT image datasets at different phases of the respiratory cycle. The 4D volumetric datasets were directly compared with 4DCT datasets acquired at the time of planning. For ten of 12 patients treated, the lung tumour motion, as measured by respiration correlated CBCT on the treatment unit, was consistent with the tumour motion measured by 4DCT at the time of planning. However, in two patients, maximum discrepancies observed were 6 and 10 mm in the anterior-posterior and superior-inferior directions, respectively. Respiration correlated CBCT acquired on the treatment unit allows target motion to be assessed for each treatment fraction, allows target localization based on different phases on the breathing cycle, and provides the facility for adaptive margin design in radiation therapy of lung malignancies. The current study has shown that the relative motion and position of the tumour at the time of treatment may not match that of the planning 4DCT scan. Therefore, application of breathing motion data acquired at simulation for tracking or gating radiation therapy may not be suitable for all patients - even those receiving short course treatment techniques such as SBRT.

Quantifying interfraction and intrafraction tumor motion in lung stereotactic body radiotherapy using respiration-correlated cone beam computed tomography

PURPOSE

Stereotactic body radiation therapy (SBRT) is an effective treatment for medically inoperable Stage I non-small-cell lung cancer. However, changes in the patient's breathing patterns during the course of SBRT may result in a geographic miss or an overexposure of healthy tissues to radiation. However, the precise extent of these changes in breathing pattern is not well known. We evaluated the inter- and intrafractional changes in tumor motion amplitude (DeltaM) over an SBRT course.

METHODS AND MATERIALS

Eighteen patients received image-guided SBRT delivered in three fractions; this therapy was done with abdominal compression in four patients. For each fraction, cone beam computed tomography (CBCT) was performed for tumor localization (+/- 3-mm tolerance) and then repeated to confirm geometric accuracy. Additional CBCT images were acquired at the midpoint and end of each SBRT fraction. Respiration-correlated CBCT (rcCBCT) reconstructions allowed retrospective assessment of inter- and intrafractional DeltaM by a comparison of tumor displacements in all four-dimensional CT and rcCBCT scans. The DeltaM was measured in mediolateral, superior-inferior, and anterior-posterior directions.

RESULTS

A total of 201 rcCBCT images were analyzed. The mean time from localization of the tumor to the end-fraction CBCT was 35 +/- 7 min. Compared with the motion recorded on four-dimensional CT, the mean DeltaM was 0.4, 1.0, and 0.4 mm, respectively, in the mediolateral, superior-inferior, and anterior-posterior directions. On treatment, the observed DeltaM was, on average, <1 mm; no DeltaM was statistically different with respect to the initial rcCBCT. However, patients in whom abdominal compression was used showed a statistically significant difference (p < 0.05) in the variance of DeltaM with respect to the initial rcCBCT in the superior-inferior direction.

CONCLUSIONS

The inter- and intrafractional DeltaM that occur during a course of lung SBRT are small. However, abdominal compression causes larger variations in the time spent on the treatment couch and in the inter- and intrafractional DeltaM values.

Automated 2D-3D registration of portal images and CT data using line-segment enhancement

In prostate radiotherapy, setup errors with respect to the patient's bony anatomy can be reduced by aligning 2D megavoltage (MV) portal images acquired during treatment to a reference 3D kilovoltage (kV) CT acquired for treatment planning purposes. The purpose of this study was to evaluate a fully automated 2D-3D registration algorithm to quantify setup errors in 3D through the alignment of line-enhanced portal images and digitally reconstructed radiographs computed from the CT. The line-enhanced images were obtained by correlating the images with a filter bank of short line segments, or "sticks" at different orientations. The proposed methods were validated on (1) accurately collected gold-standard data consisting of a 3D kV cone-beam CT scan of an anthropomorphic phantom of the pelvis and 2D MV portal images in the anterior-posterior (AP) view acquired at 15 different poses and (2) a conventional 3D kV CT scan and weekly 2D MV AP portal images of a patient over 8 weeks. The mean (and standard deviation) of the absolute registration error for rotations around the right-lateral (RL), inferior-superior (IS), and posterior-anterior (PA) axes were 0.212 degree (0.214 degree), 0.055 degree (0.033 degree) and 0.041 degree (0.039 degree), respectively. The corresponding registration errors for translations along the RL, IS, and PA axes were 0.161 (0.131) mm, 0.096 (0.033) mm, and 0.612 (0.485) mm. The mean (and standard deviation) of the total registration error was 0.778 (0.543) mm. Registration on the patient images was successful in all eight cases as determined visually. The results indicate that it is feasible to automatically enhance features in MV portal images of the pelvis for use within a completely automated 2D-3D registration framework for the accurate determination of patient setup errors. They also indicate that it is feasible to estimate all six transformation parameters from a 3D CT of the pelvis and a single portal image in the AP view.

A quality assurance program for image quality of cone-beam CT guidance in radiation therapy

The clinical introduction of volumetric x-ray image-guided radiotherapy systems necessitates formal commissioning of the hardware and image-guided processes to be used and drafts quality assurance (QA) for both hardware and processes. Satisfying both requirements provides confidence on the system's ability to manage geometric variations in patient setup and internal organ motion. As these systems become a routine clinical modality, the authors present data from their QA program tracking the image quality performance of ten volumetric systems over a period of 3 years. These data are subsequently used to establish evidence-based tolerances for a QA program. The volumetric imaging systems used in this work combines a linear accelerator with conventional x-ray tube and an amorphous silicon flat-panel detector mounted orthogonally from the accelerator central beam axis, in a cone-beam computed tomography (CBCT) configuration. In the spirit of the AAPM Report No. 74, the present work presents the image quality portion of their QA program; the aspects of the QA protocol addressing imaging geometry have been presented elsewhere. Specifically, the authors are presenting data demonstrating the high linearity of CT numbers, the uniformity of axial reconstructions, and the high contrast spatial resolution of ten CBCT systems (1-2 mm) from two commercial vendors. They are also presenting data accumulated over the period of several months demonstrating the long-term stability of the flat-panel detector and of the distances measured on reconstructed volumetric images. Their tests demonstrate that each specific CBCT system has unique performance. In addition, scattered x rays are shown to influence the imaging performance in terms of spatial resolution, axial reconstruction uniformity, and the linearity of CT numbers.

Cone-beam computed tomography on a mobile C-arm: novel intraoperative imaging technology for guidance of head and neck surgery

OBJECTIVES

A conventional approach to image-guided surgery relies on positional tracking relative to preoperative images. We investigated the performance of intraoperative cone-beam computed tomography (CBCT) on a mobile C-arm for real-time guidance of head and neck surgery. Objectives were as follows: (1) to quantify improvements in surgical performance achieved with intraoperative CBCT and (2) to investigate specific, challenging surgical tasks for which CBCT is essential for total target ablation and critical structure avoidance.

METHODS

Surgical performance was evaluated using a phantom model in which a simulated skull base lesion was excised with and without intraoperative CBCT guidance. Performance was quantified by means of statistical decision theory analysis for conservative and radical excision tasks, yielding measures of sensitivity and specificity for each surgical task. Cadaveric specimens were employed to demonstrate the efficacy of CBCT guidance in sinus and skull base surgery.

RESULTS

Performance under CBCT guidance was significantly increased in all cases, particularly for radical excision tasks in proximity to critical normal structures. Cadaver studies demonstrated that CBCT-guided procedures yielded higher-quality surgical product and higher conformity to surgical margins with dramatically increased surgical confidence.

CONCLUSIONS

Intraoperative CBCT quantifiably improved surgical performance in all excision tasks and significantly increased surgical confidence. CBCT offers an intraoperative three-dimensional imaging technology that provides exquisite, real-time visualization of sinus and skull base anatomy. Such intraoperative imaging in combination with real-time tracking and navigation should be of great benefit in delicate procedures in which excision must be executed in close proximity to critical structures.

Intraoperative cone-beam CT for image-guided tibial plateau fracture reduction

OBJECTIVES

A mobile isocentric C-arm was modified in our laboratory in collaboration with Siemens Medical Solutions to include a large-area flat-panel detector providing multi-mode fluoroscopy and cone-beam CT (CBCT) imaging. This technology is an important advance over existing intraoperative imaging (e.g., Iso-C(3D)), offering superior image quality, increased field of view, higher spatial resolution, and soft-tissue visibility. The aim of this study was to assess the system's performance and image quality in tibial plateau (TP) fracture reconstruction.

METHODS

Three TP fractures were simulated in fresh-frozen cadaveric knees through combined axial loading and lateral impact. The fractures were reduced through a lateral approach and assessed by fluoroscopy. The reconstruction was then assessed using CBCT. If necessary, further reduction and localization of remaining displaced bone fragments was performed using CBCT images for guidance. CBCT image quality was assessed with respect to projection speed, dose and filtering technique.

RESULTS

CBCT imaging provided exquisite visualization of articular details, subtle fragment detection and localization, and confirmation of reduction and implant placement. After fluoroscopic images indicated successful initial reduction, CBCT imaging revealed areas of malalignment and displaced fragments. CBCT facilitated fragment localization and improved anatomic reduction. CBCT image noise increased gradually with reduced dose, but little difference in images resulted from increased projections. High-resolution reconstruction provided better delineation of plateau depressions.

CONCLUSION

This study demonstrated a clear advantage of intraoperative CBCT over 2D fluoroscopy and Iso-C(3D) in TP fracture fixation. CBCT imaging provided benefits in fracture type diagnosis, localization of fracture fragments, and intraoperative 3D confirmation of anatomic reduction.

Comparison of localization performance with implanted fiducial markers and cone-beam computed tomography for on-line image-guided radiotherapy of the prostate

PURPOSE

The aim of this work was to assess the accuracy of kilovoltage (kV) cone-beam computed tomography (CBCT)-based setup corrections as compared with orthogonal megavoltage (MV) portal image-based corrections for patients undergoing external-beam radiotherapy of the prostate.

METHODS AND MATERIALS

Daily cone-beam CT volumetric images were acquired after setup for patients with three intraprostatic fiducial markers. The estimated couch shifts were compared retrospectively to patient adjustments based on two orthogonal MV portal images (the current clinical standard of care in our institution). The CBCT soft-tissue based shifts were also estimated by digitally removing the gold markers in each projection to suppress the artifacts in the reconstructed volumes. A total of 256 volumetric images for 15 patients were analyzed.

RESULTS

The Pearson coefficient of correlation for the patient position shifts using fiducial markers in MV vs. kV was (R2 = 0.95, 0.84, 0.81) in the left-right (LR), anterior-posterior (AP), and superior-inferior (SI) directions, respectively. The correlation using soft-tissue matching was as follows: R2 = 0.90, 0.49, 0.51 in the LR, AP and SI directions. A Bland-Altman analysis showed no significant trends in the data. The percentage of shifts within a +/-3-mm tolerance (the clinical action level) was 99.7%, 95.5%, 91.3% for fiducial marker matching and 99.5%, 70.3%, 78.4% for soft-tissue matching.

CONCLUSIONS

Cone-beam CT is an accurate and precise tool for image guidance. It provides an equivalent means of patient setup correction for prostate patients with implanted gold fiducial markers. Use of the additional information provided by the visualization of soft-tissue structures is an active area of research.

A magnetic resonance imaging study of prostate deformation relative to implanted gold fiducial markers

PURPOSE

To describe prostate deformation during radiotherapy and determine the margins required to account for prostate deformation after setup to intraprostatic fiducial markers (FM).

METHODS AND MATERIALS

Twenty-five patients with T1c-T2c prostate cancer had three gold FMs implanted. The patients presented with a full bladder and empty rectum for two axial magnetic resonance imaging (MRI) scans using a gradient recalled echo (GRE) sequence capable of imaging the FMs. The MRIs were done at the time of radiotherapy (RT) planning and a randomly assigned fraction. A single observer contoured the prostate surfaces. They were entered into a finite element model and aligned using the centroid of the three FMs.

RESULTS

During RT, the prostate volume decreased by 0.5%/fraction (p = 0.03) and the FMs in-migrated by 0.05 mm/fraction (p < 0.05). Prostate deformation was unrelated to differential bladder and bowel filling, but was related to a transurethral resection of the prostate (TURP) (p = 0.003). The standard deviation for systematic uncertainty of prostate surface contouring was 0.8 mm and for FM centroid localization was 0.4 mm. The standard deviation of random interfraction prostate deformation was 1.5 mm and for FM centroid variability was 1.1 mm. These uncertainties from prostate deformation can be incorporated into a margin recipe to determine the total margins required for RT.

CONCLUSIONS

During RT, the prostate exhibited: volume decrease, deformation, and in-migration of FMs. Patients with TURPs were prone to prostate deformation.

Image guidance: treatment target localization systems

Highly conformal radiation therapy tailors treatment to match the target shape and position, minimizing normal tissue damage to a greater extent than previously possible. Technological advances such as intensity-modulated radiation therapy, introduced a decade ago, have yielded significant gains in tumor control and reduced toxicity. Continuing advances have focused on the characterization and control of patient movement, organ motion, and anatomical deformation, which all introduce geometric uncertainty. These sources of uncertainty limit the effectiveness of high-precision treatment. Target localization, performed using appropriate technologies and frequency, is a critical component of treatment quality assurance. Until recently, the target position with respect to the beams has been inferred from surface marks on the patient's skin or through an immobilization device, and verified using megavoltage radiographs of the treatment portal. Advances in imaging technologies have made it possible to image soft tissue volumes in the treatment setting. Real-time tracking is also possible using a variety of technologies, including fluoroscopic imaging and radiopaque markers implanted in or near the tumor. The capacity to acquire volumetric soft tissue images in the treatment setting can also be used to assess anatomical changes over a course of treatment. Enhancing localization practices reduces treatment errors, and gives the capacity to monitor anatomical changes and reduce uncertainties that could influence clinical outcomes. This review presents the technologies available for target localization, and discusses some of the considerations that should be addressed in the implementation of many new clinical processes in radiation oncology.

Intraoperative cone-beam CT for guidance of head and neck surgery: Assessment of dose and image quality using a C-arm prototype

Cone-beam computed tomography (CBCT) with a flat-panel detector represents a promising modality for intraoperative imaging in interventional procedures, demonstrating sub-mm three-dimensional (3D) spatial resolution and soft-tissue visibility. Measurements of patient dose and in-room exposure for CBCT-guided head and neck surgery are reported, and the 3D imaging performance as a function of dose and other acquisition/reconstruction parameters is investigated. Measurements were performed on a mobile isocentric C-arm (Siemens PowerMobil) modified in collaboration with Siemens Medical Solutions (Erlangen, Germany) to provide flat-panel CBCT. Imaging dose was measured in a custom-built 16 cm cylindrical head phantom at four positions (isocenter, anterior, posterior, and lateral) as a function of kVp (80-120 kVp) and C-arm trajectory ("tube-under" and "tube-over" half-rotation orbits). At 100 kVp, for example ("tube-under" orbit), the imaging dose was 0.059 (isocenter), 0.022 (anterior), 0.10 (posterior), and 0.056 (lateral) mGy/ mAs, with scans at approximately 50 and approximately 170 mAs typical for visualization of bony and soft-tissue structures, respectively. Dose to radiosensitive structures (viz., the eyes and thyroid) were considered in particular: significant dose sparing to the eyes (a factor of 5) was achieved using a "tube-under" (rather than "tube-over") half-rotation orbit; a thyroid shield (0.5 mm Pb-equivalent) gave moderate reduction in thyroid dose due to x-ray scatter outside the primary field of view. In-room exposure was measured at positions around the operating table and up to 2 m from isocenter. A typical CBCT scan (10 mGy to isocenter) gave in-air exposure ranging from 29 mR (0.26 mSv) at 35 cm from isocenter, to <0.5 mR (<0.005 mSv) at 2 m from isocenter. Three-dimensional (3D) image quality was assessed in CBCT reconstructions of an anthropomorphic head phantom containing contrast-detail spheres (11-103 HU; 1.6-12.7 mm) and a natural human skeleton. The contrast-to-noise ratio (CNR) was evaluated across a broad range of dose (0.6-23.3 mGy). CNR increased as the square root of dose, with excellent visualization of bony and soft-tissue structures achieved at approximately 3 mGy (0.10 mSv) and approximately 10 mGy (0.35 mSv), respectively. The prototype C-arm demonstrates CBCT image quality sufficient for guidance of head and neck procedures based on soft-tissue and bony anatomy at dose levels low enough for repeat intraoperative imaging, with total dose over the course of the procedure comparable to or less than the effective dose of a typical (2 mSv) diagnostic CT of the head.

Characterization of scattered radiation in kV CBCT images using Monte Carlo simulations

Kilovoltage (kV) cone beam computed tomography (CBCT) images suffer from a substantial scatter contribution. In this study, Monte Carlo (MC) simulations are used to evaluate the scattered radiation present in projection images. These predicted scatter distributions are also used as a scatter correction technique. Images were acquired using a kV CBCT bench top system. The EGSnrc MC code was used to model the flat panel imager, the phantoms, and the x-ray source. The x-ray source model was validated using first and second half-value layers (HVL) and profile measurements. The HVLs and the profile were found to agree within 3% and 6%, respectively. MC simulated and measured projection images for a cylindrical water phantom and for an anthropomorphic head phantom agreed within 8% and 10%. A modified version of the DOSXYZnrc MC code was used to score phase space files with identified scattered and primary particles behind the phantoms. The cone angle, the source-to-detector distance, the phantom geometry, and the energy were varied to determine their effect on the scattered radiation distribution. A scatter correction technique was developed in which the MC predicted scatter distribution is subtracted from the projections prior to reconstruction. Preliminary testing of the procedure was done with an anthropomorphic head phantom and a contrast phantom. Contrast and profile measurements were obtained for the scatter corrected and noncorrected images. An improvement of 3% for contrast between solid water and a liver insert and 11% between solid water and a Teflon insert were obtained and a significant reduction in cupping and streaking artifacts was observed.

Automated 2D-3D registration of a radiograph and a cone beam CT using line-segment enhancement

The objective of this study was to develop a fully automated two-dimensional (2D)-three-dimensional (3D) registration framework to quantify setup deviations in prostate radiation therapy from cone beam CT (CBCT) data and a single AP radiograph. A kilovoltage CBCT image and kilovoltage AP radiograph of an anthropomorphic phantom of the pelvis were acquired at 14 accurately known positions. The shifts in the phantom position were subsequently estimated by registering digitally reconstructed radiographs (DRRs) from the 3D CBCT scan to the AP radiographs through the correlation of enhanced linear image features mainly representing bony ridges. Linear features were enhanced by filtering the images with "sticks," short line segments which are varied in orientation to achieve the maximum projection value at every pixel in the image. The mean (and standard deviations) of the absolute errors in estimating translations along the three orthogonal axes in millimeters were 0.134 (0.096) AP(out-of-plane), 0.021 (0.023) ML and 0.020 (0.020) SI. The corresponding errors for rotations in degrees were 0.011 (0.009) AP, 0.029 (0.016) ML (out-of-plane), and 0.030 (0.028) SI (out-of-plane). Preliminary results with megavoltage patient data have also been reported. The results suggest that it may be possible to enhance anatomic features that are common to DRRs from a CBCT image and a single AP radiography of the pelvis for use in a completely automated and accurate 2D-3D registration framework for setup verification in prostate radiotherapy. This technique is theoretically applicable to other rigid bony structures such as the cranial vault or skull base and piecewise rigid structures such as the spine.

Intraoperative cone-beam CT for guidance of temporal bone surgery

OBJECTIVES

To describe our preclinical experience with Cone Beam CT (CBCT) in image-guided surgery of the temporal bone.

STUDY DESIGN AND SETTINGS

A mobile isocentric C-arm (PowerMobil, Siemens Medical Systems, Erlangen, Germany) modified to include a flat-panel detector (Varian Imaging Products, Palo Alto, CA) and a motorized orbit was developed to acquire multiple projections in rotation about a subject. Initial experiments imaging steel wire in air were used to investigate the system's spatial resolution in 3D image reconstruction. Subsequently temporal bone dissection was performed on five cadaver heads using the modified C-arm as an image guidance system.

RESULTS

We obtained a spatial resolution of 0.85 mm. The image acquisition time was 120 seconds and the radiation dose approximately one-tenth of a conventional CT scan.

CONCLUSION

CBCT provided submillimeter accuracy at high speed with low radiation dosage to offer utility as an intraoperative imaging system.

SIGNIFICANCE

CBCT offers technology that approximates "near-real-time" image guidance.

EBM RATING

C-4.

Patient dose from kilovoltage cone beam computed tomography imaging in radiation therapy

Kilovoltage cone-beam computerized tomography (kV-CBCT) systems integrated into the gantry of linear accelerators can be used to acquire high-resolution volumetric images of the patient in the treatment position. Using on-line software and hardware, patient position can be determined accurately with a high degree of precision and, subsequently, set-up parameters can be adjusted to deliver the intended treatment. While the patient dose due to a single volumetric imaging acquisition is small compared to the therapy dose, repeated and daily image guidance procedures can lead to substantial dose to normal tissue. The dosimetric properties of a clinical CBCT system have been studied on an Elekta linear accelerator (Synergy RP, XVI system) and additional measurements performed on a laboratory system with identical geometry. Dose measurements were performed with an ion chamber and MOSFET detectors at the center, periphery, and surface of 30 and 16-cm-diam cylindrical shaped water phantoms, as a function of x-ray energy and longitudinal field-of-view (FOV) settings of 5,10,15, and 26 cm. The measurements were performed for full 360 degrees CBCT acquisition as well as for half-rotation scans for 120 kVp beams using the 30-cm-diam phantom. The dose at the center and surface of the body phantom were determined to be 1.6 and 2.3 cGy for a typical imaging protocol, using full rotation scan, with a technique setting of 120 kVp and 660 mAs. The results of our measurements have been presented in terms of a dose conversion factor fCBCT, expressed in cGy/R. These factors depend on beam quality and phantom size as well as on scan geometry and can be utilized to estimate dose for any arbitrary mAs setting and reference exposure rate of the x-ray tube at standard distance. The results demonstrate the opportunity to manipulate the scanning parameters to reduce the dose to the patient by employing lower energy (kVp) beams, smaller FOV, or by using half-rotation scan.

A simple, direct method for x-ray scatter estimation and correction in digital radiography and cone-beam CT

X-ray scatter poses a significant limitation to image quality in cone-beam CT (CBCT), resulting in contrast reduction, image artifacts, and lack of CT number accuracy. We report the performance of a simple scatter correction method in which scatter fluence is estimated directly in each projection from pixel values near the edge of the detector behind the collimator leaves. The algorithm operates on the simple assumption that signal in the collimator shadow is attributable to x-ray scatter, and the 2D scatter fluence is estimated by interpolating between pixel values measured along the top and bottom edges of the detector behind the collimator leaves. The resulting scatter fluence estimate is subtracted from each projection to yield an estimate of the primary-only images for CBCT reconstruction. Performance was investigated in phantom experiments on an experimental CBCT bench-top, and the effect on image quality was demonstrated in patient images (head, abdomen, and pelvis sites) obtained on a preclinical system for CBCT-guided radiation therapy. The algorithm provides significant reduction in scatter artifacts without compromise in contrast-to-noise ratio (CNR). For example, in a head phantom, cupping artifact was essentially eliminated, CT number accuracy was restored to within 3%, and CNR (breast-to-water) was improved by up to 50%. Similarly in a body phantom, cupping artifact was reduced by at least a factor of 2 without loss in CNR. Patient images demonstrate significantly increased uniformity, accuracy, and contrast, with an overall improvement in image quality in all sites investigated. Qualitative evaluation illustrates that soft-tissue structures that are otherwise undetectable are clearly delineated in scatter-corrected reconstructions. Since scatter is estimated directly in each projection, the algorithm is robust with respect to system geometry, patient size and heterogeneity, patient motion, etc. Operating without prior information, analytical modeling, or Monte Carlo, the technique is easily incorporated as a preprocessing step in CBCT reconstruction to provide significant scatter reduction.

Feasibility of a novel deformable image registration technique to facilitate classification, targeting, and monitoring of tumor and normal tissue

PURPOSE

To investigate the feasibility of a biomechanical-based deformable image registration technique for the integration of multimodality imaging, image guided treatment, and response monitoring.

METHODS AND MATERIALS

A multiorgan deformable image registration technique based on finite element modeling (FEM) and surface projection alignment of selected regions of interest with biomechanical material and interface models has been developed. FEM also provides an inherent method for direct tracking specified regions through treatment and follow-up.

RESULTS

The technique was demonstrated on 5 liver cancer patients. Differences of up to 1 cm of motion were seen between the diaphragm and the tumor center of mass after deformable image registration of exhale and inhale CT scans. Spatial differences of 5 mm or more were observed for up to 86% of the surface of the defined tumor after deformable image registration of the computed tomography (CT) and magnetic resonance images. Up to 6.8 mm of motion was observed for the tumor after deformable image registration of the CT and cone-beam CT scan after rigid registration of the liver. Deformable registration of the CT to the follow-up CT allowed a more accurate assessment of tumor response.

CONCLUSIONS

This biomechanical-based deformable image registration technique incorporates classification, targeting, and monitoring of tumor and normal tissue using one methodology.

Investigation of C-arm cone-beam CT-guided surgery of the frontal recess

OBJECTIVE/HYPOTHESIS

A cone-beam CT (CBCT) imaging system based on a mobile C-arm (Siemens PowerMobil) incorporating a high-performance flat-panel detector (Varian PaxScan) has been developed in our laboratory. We hypothesize that intraoperative C-arm CBCT provides image quality and guidance performance sufficient to assist surgical approach to the frontal recess.

STUDY DESIGN

A preclinical prospective study was conducted using six cadaver heads to assess the performance characteristics and the potential clinical utility of this imaging system.

METHODS

The mobile C-arm was employed for intraoperative CBCT guidance of the endoscopic approach to twelve frontal recesses.

RESULTS

The imaging system is capable of sub-mm 3D spatial resolution with bone and soft-tissue visibility and a field of view sufficient for guidance of head and neck surgery. The system can generate intraoperative, volumetric CT images rapidly with an acceptably low radiation exposure to the patient and with image quality sufficient for most surgical tasks. Moreover, the system is portable and compatible with the surgical setup, providing excellent access to the patient. Finally, the accuracy of the system is not bound to a registration process.

CONCLUSIONS

The ability to create updated images as surgery progresses introduces the concept of 'near-real-time' CT guidance for head and neck surgery. We found that the use of CBCT increased surgical confidence in accessing the frontal recess, resolved ambiguities with anatomical variations, and provided valuable teaching information to surgeons in training in both preoperative planning and correlation between tri-planar CT scans and intraoperative endoscopic findings.

The stability of mechanical calibration for a kV cone beam computed tomography system integrated with linear acceleratora)

The geometric accuracy and precision of an image-guided treatment system were assessed. Image guidance is performed using an x-ray volume imaging (XVI) system integrated with a linear accelerator and treatment planning system. Using an amorphous silicon detector and x-ray tube, volumetric computed tomography images are reconstructed from kilovoltage radiographs by filtered backprojection. Image fusion and assessment of geometric targeting are supported by the treatment planning system. To assess the limiting accuracy and precision of image-guided treatment delivery, a rigid spherical target embedded in an opaque phantom was subjected to 21 treatment sessions over a three-month period. For each session, a volumetric data set was acquired and loaded directly into an active treatment planning session. Image fusion was used to ascertain the couch correction required to position the target at the prescribed iso-center. Corrections were validated independently using megavoltage electronic portal imaging to record the target position with respect to symmetric treatment beam apertures. An initial calibration cycle followed by repeated image-guidance sessions demonstrated the XVI system could be used to relocate an unambiguous object to within less than 1 mm of the prescribed location. Treatment could then proceed within the mechanical accuracy and precision of the delivery system. The calibration procedure maintained excellent spatial resolution and delivery precision over the duration of this study, while the linear accelerator was in routine clinical use. Based on these results, the mechanical accuracy and precision of the system are ideal for supporting high-precision localization and treatment of soft-tissue targets.

An innovative phantom for quantitative and qualitative investigation of advanced x-ray imaging technologies

Development, characterization, and quality assurance of advanced x-ray imaging technologies require phantoms that are quantitative and well suited to such modalities. This note reports on the design, construction, and use of an innovative phantom developed for advanced imaging technologies (e.g., multi-detector CT and the numerous applications of flat-panel detectors in dual-energy imaging, tomosynthesis, and cone-beam CT) in diagnostic and image-guided procedures. The design addresses shortcomings of existing phantoms by incorporating criteria satisfied by no other single phantom: (1) inserts are fully 3D--spherically symmetric rather than cylindrical; (2) modules are quantitative, presenting objects of known size and contrast for quality assurance and image quality investigation; (3) features are incorporated in ideal and semi-realistic (anthropomorphic) contexts; and (4) the phantom allows devices to be inserted and manipulated in an accessible module (right lung). The phantom consists of five primary modules: (1) head, featuring contrast-detail spheres approximate to brain lesions; (2) left lung, featuring contrast-detail spheres approximate to lung modules; (3) right lung, an accessible hull in which devices may be placed and manipulated; (4) liver, featuring contrast-detail spheres approximate to metastases; and (5) abdomen/pelvis, featuring simulated kidneys, colon, rectum, bladder, and prostate. The phantom represents a two-fold evolution in design philosophy--from 2D (cylindrically symmetric) to fully 3D, and from exclusively qualitative or quantitative to a design accommodating quantitative study within an anatomical context. It has proven a valuable tool in investigations throughout our institution, including low-dose CT, dual-energy radiography, and cone-beam CT for image-guided radiation therapy and surgery.

Generalized DQE analysis of radiographic and dual-energy imaging using flat-panel detectors

Analysis of detective quantum efficiency (DQE) is an important component of the investigation of imaging performance for flat-panel detectors (FPDs). Conventional descriptions of DQE are limited, however, in that they take no account of anatomical noise (i.e., image fluctuations caused by overlying anatomy), even though such noise can be the most significant limitation to detectability, often outweighing quantum or electronic noise. We incorporate anatomical noise in experimental and theoretical descriptions of the "generalized DQE" by including a spatial-frequency-dependent noise-power term, S(B), corresponding to background anatomical fluctuations. Cascaded systems analysis (CSA) of the generalized DQE reveals tradeoffs between anatomical noise and the factors that govern quantum noise. We extend such analysis to dual-energy (DE) imaging, in which the overlying anatomical structure is selectively removed in image reconstructions by combining projections acquired at low and high kVp. The effectiveness of DE imaging in removing anatomical noise is quantified by measurement of S(B) in an anthropomorphic phantom. Combining the generalized DQE with an idealized task function to yield the detectability index, we show that anatomical noise dramatically influences task-based performance, system design, and optimization. For the case of radiography, the analysis resolves a fundamental and illustrative quandary: The effect of kVp on imaging performance, which is poorly described by conventional DQE analysis but is clarified by consideration of the generalized DQE. For the case of DE imaging, extension of a generalized CSA methodology reveals a potentially powerful guide to system optimization through the optimal selection of the tissue cancellation parameter. Generalized task-based analysis for DE imaging shows an improvement in the detectability index by more than a factor of 2 compared to conventional radiography for idealized detection tasks.

Accurate technique for complete geometric calibration of cone-beam computed tomography systems

Cone-beam computed tomography systems have been developed to provide in situ imaging for the purpose of guiding radiation therapy. Clinical systems have been constructed using this approach, a clinical linear accelerator (Elekta Synergy RP) and an iso-centric C-arm. Geometric calibration involves the estimation of a set of parameters that describes the geometry of such systems, and is essential for accurate image reconstruction. We have developed a general analytic algorithm and corresponding calibration phantom for estimating these geometric parameters in cone-beam computed tomography (CT) systems. The performance of the calibration algorithm is evaluated and its application is discussed. The algorithm makes use of a calibration phantom to estimate the geometric parameters of the system. The phantom consists of 24 steel ball bearings (BBs) in a known geometry. Twelve BBs are spaced evenly at 30 deg in two plane-parallel circles separated by a given distance along the tube axis. The detector (e.g., a flat panel detector) is assumed to have no spatial distortion. The method estimates geometric parameters including the position of the x-ray source, position, and rotation of the detector, and gantry angle, and can describe complex source-detector trajectories. The accuracy and sensitivity of the calibration algorithm was analyzed. The calibration algorithm estimates geometric parameters in a high level of accuracy such that the quality of CT reconstruction is not degraded by the error of estimation. Sensitivity analysis shows uncertainty of 0.01 degrees (around beam direction) to 0.3 degrees (normal to the beam direction) in rotation, and 0.2 mm (orthogonal to the beam direction) to 4.9 mm (beam direction) in position for the medical linear accelerator geometry. Experimental measurements using a laboratory bench Cone-beam CT system of known geometry demonstrate the sensitivity of the method in detecting small changes in the imaging geometry with an uncertainty of 0.1 mm in transverse and vertical (perpendicular to the beam direction) and 1.0 mm in the longitudinal (beam axis) directions. The calibration algorithm was compared to a previously reported method, which uses one ball bearing at the isocenter of the system, to investigate the impact of more precise calibration on the image quality of cone-beam CT reconstruction. A thin steel wire located inside the calibration phantom was imaged on the conebeam CT lab bench with and without perturbations in source and detector position during the scan. The described calibration method improved the quality of the image and the geometric accuracy of the object reconstructed, improving the full width at half maximum of the wire by 27.5% and increasing contrast of the wire by 52.8%. The proposed method is not limited to the geometric calibration of cone-beam CT systems but can be used for many other systems, which consist of one or more point sources and area detectors such as calibration of megavoltage (MV) treatment system (focal spot movement during the beam delivery, MV source trajectory versus gantry angle, the axis of collimator rotation, and couch motion), cross calibration between Kilovolt imaging and MV treatment system, and cross calibration between multiple imaging systems. Using the complete information of the system geometry, it was demonstrated that high image quality in CT reconstructions is possible even in systems with large geometric nonidealities.

The influence of antiscatter grids on soft-tissue detectability in cone-beam computed tomography with flat-panel detectors

The influence of antiscatter x-ray grids on image quality in cone-beam computed tomography (CT) is evaluated through broad experimental investigation for various anatomical sites (head and body), scatter conditions (scatter-to-primary ratio (SPR) ranging from approximately 10% to 150%), patient dose, and spatial resolution in three-dimensional reconstructions. Studies involved linear grids in combination with a flat-panel imager on a system for kilovoltage cone-beam CT imaging and guidance of radiation therapy. Grids were found to be effective in reducing x-ray scatter "cupping" artifacts, with heavier grids providing increased image uniformity. The system was highly robust against ring artifacts that might arise in CT reconstructions as a result of gridline shadows in the projection data. The influence of grids on soft-tissue detectability was evaluated quantitatively in terms of absolute contrast, voxel noise, and contrast-to-noise ratio (CNR) in cone-beam CT reconstructions of 16 cm "head" and 32 cm "body" cylindrical phantoms. Imaging performance was investigated qualitatively in observer preference tests based on patient images (pelvis, abdomen, and head-and-neck sites) acquired with and without antiscatter grids. The results suggest that although grids reduce scatter artifacts and improve subject contrast, there is little strong motivation for the use of grids in cone-beam CT in terms of CNR and overall image quality under most circumstances. The results highlight the tradeoffs in contrast and noise imparted by grids, showing improved image quality with grids only under specific conditions of high x-ray scatter (SPR> 100%), high imaging dose (Dcenter> 2 cGy), and low spatial resolution (voxel size > or = 1 mm).

Volume CT with a flat-panel detector on a mobile, isocentric C-arm: Pre-clinical investigation in guidance of minimally invasive surgery

A mobile isocentric C-arm (Siemens PowerMobil) has been modified in our laboratory to include a large area flat-panel detector (in place of the x-ray image intensifier), providing multi-mode fluoroscopy and cone-beam computed tomography (CT) imaging capability. This platform represents a promising technology for minimally invasive, image-guided surgical procedures where precision in the placement of interventional tools with respect to bony and soft-tissue structures is critical. The image quality and performance in surgical guidance was investigated in pre-clinical evaluation in image-guided spinal surgery. The control, acquisition, and reconstruction system are described. The reproducibility of geometric calibration, essential to achieving high three-dimensional (3D) image quality, is tested over extended time scales (7 months) and across a broad range in C-arm angulation (up to 45 degrees), quantifying the effect of improper calibration on spatial resolution, soft-tissue visibility, and image artifacts. Phantom studies were performed to investigate the precision of 3D localization (viz., fiber optic probes within a vertebral body) and effect of lateral projection truncation (limited field of view) on soft-tissue detectability in image reconstructions. Pre-clinical investigation was undertaken in a specific spinal procedure (photodynamic therapy of spinal metastases) in five animal subjects (pigs). In each procedure, placement of fiber optic catheters in two vertebrae (L1 and L2) was guided by fluoroscopy and cone-beam CT. Experience across five procedures is reported, focusing on 3D image quality, the effects of respiratory motion, limited field of view, reconstruction filter, and imaging dose. Overall, the intraoperative cone-beam CT images were sufficient for guidance of needles and catheters with respect to bony anatomy and improved surgical performance and confidence through 3D visualization and verification of transpedicular trajectories and tool placement. Future investigation includes improvement in image quality, particularly regarding x-ray scatter, motion artifacts and field of view, and integration with optical tracking and navigation systems.

Spektr: A computational tool for x-ray spectral analysis and imaging system optimization

A set of computational tools are presented that allow convenient calculation of x-ray spectra, selection of elemental and compound filters, and calculation of beam quality characteristics, such as half-value layer, mR/mAs, and fluence per unit exposure. The TASMIP model of Boone and Seibert is adapted to a library of high-level language (Matlab) functions and shown to agree with experimental measurements across a wide range of kVp and beam filtration. Modeling of beam filtration is facilitated by a convenient, extensible database of mass and mass-energy attenuation coefficients compiled from the National Institute of Standards and Technology. The functions and database were integrated in a graphical user interface and made available online at http:// www.aip.org/epaps/epaps.html. The functionality of the toolset and potential for investigation of imaging system optimization was illustrated in theoretical calculations of imaging performance across a broad range of kVp, filter material type, and filter thickness for direct and indirect-detection flat-panel imagers. The calculations reveal a number of nontrivial effects in the energy response of such detectors that may not have been guessed from simple K-edge filter techniques, and point to a variety of compelling hypotheses regarding choice of beam filtration that warrant future investigation.

Nitrofurantoin modified release versus trimethoprim or co-trimoxazole in the treatment of uncomplicated urinary tract infection in general practice

A total of 538 patients from 45 different general practice centres across the UK was admitted to an open study and randomized to one of the following treatment groups: nitrofurantoin modified release (MR) 100 mg bd, trimethoprim 200 mg bd or co-trimoxazole 960 mg bd. Each patient received seven days of medication. Clinical cure, defined as relief from symptoms at visit 2, occurred in 87.2% of the patients treated with nitrofurantoin MR, 84.5% of the co-trimoxazole group and 86.5% of the trimethoprim group. The bacteriological cure rate for nitrofurantoin MR was comparable to co-trimoxazole at 82.3% and 83.2%, respectively, with trimethoprim the lowest at 76.8%. Whilst the cure rate for Escherichia coli infection was similar, 81.5% cured with nitrofurantoin MR, 82.5% with co-trimoxazole and 78.4% by trimethoprim, for non-E. coli pathogens nitrofurantoin MR was equivalent to co-trimoxazole with 86.7% cure but higher than trimethoprim at 72.0%. In-vitro sensitivity to all pathogens isolated at baseline was very high for nitrofurantoin at 96.1%, significantly higher than either co-trimoxazole or trimethoprim at 87.5% (P < 0.01). The test drugs were equally well tolerated with 28 patients (15.7%) reporting adverse events with nitrofurantoin MR, 28 (15.5%) with co-trimoxazole and 28 (15.6%) with trimethoprim. However, nitrofurantoin MR showed fewer patients with drug-related adverse events (5.6%) as judged by the investigator, compared to co-trimoxazole (8.8%) or trimethoprim (7.3%). (ABSTRACT TRUNCATED AT 250 WORDS)