Julio Lobo

Two new DOSXYZnrc sources for 4D Monte Carlo simulations of continuously variable beam configurations, with applications to RapidArc, VMAT, TomoTherapy and CyberKnife.

We present two new Monte Carlo sources for the DOSXYZnrc code, which can be used to compute dose distributions due to continuously variable beam configurations. These sources support a continuously rotating gantry and collimator, dynamic multileaf collimator (MLC) motion, variable monitor unit (MU) rate, couch rotation and translation in any direction, arbitrary isocentre motion with respect to the patient and variable source-to-axis distance (SAD). These features make them applicable to Monte Carlo simulations for RapidArc, Elekta VMAT, TomoTherapy and CyberKnife. Unique to these sources is the synchronization between the motion in the DOSXYZnrc geometry and the motion within the linac head, represented by a shared library (either a BEAMnrc accelerator with dynamic component modules, or an external library). The simulations are achieved in single runs, with no intermediate phase space files.

Intraoperative Registered Transrectal Ultrasound Guidance for Robot-Assisted Laparoscopic Radical Prostatectomy

PURPOSE To provide unencumbered real-time ultrasound image guidance during robot-assisted laparoscopic radical prostatectomy, we developed a robotic transrectal ultrasound system that tracks the da Vinci® Surgical System instruments. We describe our initial clinical experience with this system. MATERIALS AND METHODS After an evaluation in a canine model, 20 patients were enrolled in the study. During each procedure the transrectal ultrasound transducer was manually positioned using a brachytherapy stabilizer to provide good imaging of the prostate. Then the transrectal ultrasound was registered to the da Vinci robot by a previously validated procedure. Finally, automatic rotation of the transrectal ultrasound was enabled such that the transrectal ultrasound imaging plane safely tracked the tip of the da Vinci instrument controlled by the surgeon, while real-time transrectal ultrasound images were relayed to the surgeon at the da Vinci console. Tracking was activated during all critical stages of the surgery. RESULTS The transrectal ultrasound robot was easy to set up and use, adding 7 minutes (range 5 to 14) to the procedure. It did not require an assistant or additional control devices. Qualitative feedback was acquired from the surgeons, who found transrectal ultrasound useful in identifying the urethra while passing the dorsal venous complex suture, defining the prostate-bladder interface during bladder neck dissection, identifying the seminal vesicles and their location with respect to the rectal wall, and identifying the distal prostate boundary at the apex. CONCLUSIONS Real-time, registered robotic transrectal ultrasound guidance with automatic instrument tracking during robot-assisted laparoscopic radical prostatectomy is feasible and potentially useful. The results justify further studies to establish whether the approach can improve procedure outcomes.

Direct vibro-elastography FEM inversion in Cartesian and cylindrical coordinate systems without the local homogeneity assumption.

To produce images of tissue elasticity, the vibro-elastography technique involves applying a steady-state multi-frequency vibration to tissue, estimating displacements from ultrasound echo data, and using the estimated displacements in an inverse elasticity problem with the shear modulus spatial distribution as the unknown. In order to fully solve the inverse problem, all three displacement components are required. However, using ultrasound, the axial component of the displacement is measured much more accurately than the other directions. Therefore, simplifying assumptions must be used in this case. Usually, the equations of motion are transformed into a Helmholtz equation by assuming tissue incompressibility and local homogeneity. The local homogeneity assumption causes significant imaging artifacts in areas of varying elasticity. In this paper, we remove the local homogeneity assumption. In particular we introduce a new finite element based direct inversion technique in which only the coupling terms in the equation of motion are ignored, so it can be used with only one component of the displacement. Both Cartesian and cylindrical coordinate systems are considered. The use of multi-frequency excitation also allows us to obtain multiple measurements and reduce artifacts in areas where the displacement of one frequency is close to zero. The proposed method was tested in simulations and experiments against a conventional approach in which the local homogeneity is used. The results show significant improvements in elasticity imaging with the new method compared to previous methods that assumes local homogeneity. For example in simulations, the contrast to noise ratio (CNR) for the region with spherical inclusion increases from an average value of 1.5-17 after using the proposed method instead of the local inversion with homogeneity assumption, and similarly in the prostate phantom experiment, the CNR improved from an average value of 1.6 to about 20.

Use of Needle Track Detection to Quantify the Displacement of Stranded Seeds Following Prostate Brachytherapy

We aim to compute the movement of permanent stranded implant brachytherapy radioactive sources (seeds) in the prostate from the planned seed distribution to the intraoperative fluoroscopic distribution, and then to the postimplant computed tomography (CT) distribution. We present a novel approach to matching the seeds in these distributions to the plan by grouping the seeds into needle tracks. First, we identify the implantation axis using a sample consensus algorithm. Then, we use a network flow algorithm to group seeds into their needle tracks. Finally, we match the needles from the three stages using both their transverse plane location and the number of seeds per needle. We validated our approach on eight clinical prostate brachytherapy cases, having a total of 871 brachytherapy seeds distributed in 193 needles. For the intraoperative and postimplant data, 99.31% and 99.41% of the seeds were correctly assigned, respectively. For both the preplan to fluoroscopic and fluoroscopic to CT registrations, 100% of the needles were correctly matched. We show that there is an average intraoperative seed displacement of 4.94 ± 2.42 mm and a further 2.97 ± 1.81 mm of postimplant movement. This information reveals several directional trends and can be used for quality control, treatment planning, and intraoperative dosimetry that fuses ultrasound and fluoroscopy.

Multi-parametric 3D quantitative ultrasound vibro-elastography imaging for detecting palpable prostate tumors.

In this article, we describe a system for detecting dominant prostate tumors, based on a combination of features extracted from a novel multi-parametric quantitative ultrasound elastography technique. The performance of the system was validated on a data-set acquired from n = 10 patients undergoing radical prostatectomy. Multi-frequency steady-state mechanical excitations were applied to each patients prostate through the perineum and prostate tissue displacements were captured by a transrectal ultrasound system. 3D volumetric data including absolute value of tissue elasticity, strain and frequency-response were computed for each patient. Based on the combination of all extracted features, a random forest classification algorithm was used to separate cancerous regions from normal tissue, and to compute a measure of cancer probability. Registered whole mount histopathology images of the excised prostate gland were used as a ground truth of cancer distribution for classifier training. An area under receiver operating characteristic curve of 0.82 +/- 0.01 was achieved in a leave-one-patient-out cross validation. Our results show the potential of multi-parametric quantitative elastography for prostate cancer detection for the first time in a clinical setting, and justify further studies to establish whether the approach can have clinical use.

Prostate implant reconstruction from C-arm images with motion-compensated tomosynthesis

PURPOSE Accurate localization of prostate implants from several C-arm images is necessary for ultrasound-fluoroscopy fusion and intraoperative dosimetry. The authors propose a computational motion compensation method for tomosynthesis-based reconstruction that enables 3D localization of prostate implants from C-arm images despite C-arm oscillation and sagging. METHODS Five C-arm images are captured by rotating the C-arm around its primary axis, while measuring its rotation angle using a protractor or the C-arm joint encoder. The C-arm images are processed to obtain binary seed-only images from which a volume of interest is reconstructed. The motion compensation algorithm, iteratively, compensates for 2D translational motion of the C-arm by maximizing the number of voxels that project on a seed projection in all of the images. This obviates the need for C-arm full pose tracking traditionally implemented using radio-opaque fiducials or external trackers. The proposed reconstruction method is tested in simulations, in a phantom study and on ten patient data sets. RESULTS In a phantom implanted with 136 dummy seeds, the seed detection rate was 100% with a localization error of 0.86 ± 0.44 mm (Mean ± STD) compared to CT. For patient data sets, a detection rate of 99.5% was achieved in approximately 1 min per patient. The reconstruction results for patient data sets were compared against an available matching-based reconstruction method and showed relative localization difference of 0.5 ± 0.4 mm. CONCLUSIONS The motion compensation method can successfully compensate for large C-arm motion without using radio-opaque fiducial or external trackers. Considering the efficacy of the algorithm, its successful reconstruction rate and low computational burden, the algorithm is feasible for clinical use.

Needle path detection for brachytherapy dosimetry based on lateral power imaging and template matching

Brachytherapy is a treatment for prostate cancer with highly successful outcomes. During brachytherapy, radioactive seeds are implanted in and around the prostate based on a designed plan. Accurate detection of the implanted seeds and their position relative to prostate are important for dosimetry during and after brachytherapy. We propose a method to identify the needle paths in ultrasound images based on reflected power imaging and matching the temporal profile of the potential seeds with that of a set of template seed images. These needle tracks are used for line to line registration to needle tracks extracted from five fluoroscopy images. The needle tracks in fluoroscopy data are extracted based on the random sample consensus algorithm. Very accurate results in phantom studies and a promising patient study are reported. In the patient study, 16 out of 22 needle tracks were successfully extracted from ultrasound data.

Focal application of low-dose-rate brachytherapy for prostate cancer: a pilot study

Purpose To evaluate the feasibility and to report the early outcomes of focal treatment of prostate cancer using low-dose-rate brachytherapy (LDR-PB). Material and methods Seventeen patients were screened with multi-parametric magnetic resonance imaging (mpMRI), 14 of whom proceeded to receive trans-perineal template mapping biopsy (TTMB). Focal LDR-PB was performed on five eligible patients using dual air kerma strength treatment plans based on planning target volumes derived from cancer locations and determined by TTMB. Patient follow-up includes prostate specific antigen (PSA) measurements, urinary and sexual function questionnaires, repeated imaging and TTMB at specific intervals post-treatment. Results Feasibility of focal LDR-PB was shown and short-term outcomes are promising. While the detection rate of tumors, a majority of which were low grade GS 3 + 3, was found to be low on mpMRI (sensitivity of 37.5%), our results suggest the potential of mpMRI in detecting the presence of higher grade (GS ≥ 3 + 4), and bilateral disease indicating its usefulness as a screening tool for focal LDR-PB. Conclusions Low-dose-rate brachytherapy is a favorable ablation option for focal treatment of prostate cancer, requiring minimal modification to the standard (whole gland) LDR-PB treatment, and appears to have a more favorable side effect profile. Further investigation, in the form of a larger study, is needed to assess the methods used and the long-term outcomes of focal LDR-PB.

Prostate vibro-elastography: Multi-frequency 1D over 3D steady-state shear wave imaging for quantitative elastic modulus measurement

Background, Motivation and Objective: This article describes a state of the art ultrasound system that is used to quantify tissue elasticity of the prostate. Statement of Contribution/Methods: The system involves the measurement of the steady-state multi-frequency response of tissue to transperineal excitation while imaging the gland using the sagittal array of the BK Medical 8848 trans-rectal ultrasound transducer. A roll motor rotates the transducer in discrete steps to create a volume sector of images. GPU Processing of raw in-phase/quadrature data streamed from the ultrasound machine is used to measure the axial (radial) spatial distribution of tissue motion and compute displacement phasors. Bandpass sampling is used to perform the reconstruction since the sampling frequency is below the Nyquist rate. Finally, a local frequency estimator is used to compute the Youngs Modulus from the three dimensional local spatial wavelengths of the shear wave that is created at each of the excitation frequencies. Results/Discussion: The system has been used in several clinical studies but its design and function has not been published before. Some of the study results have been published and include an area under receiver operating characteristic curve of 0.820.01 with regards to prostate cancer identification in the peripheral zone. The accuracy of the elastic modulus measurement was validated using a CIRS elastography phantom. Numerical and visual correlations between our elasticity measurements and pathology results demonstrate its clinical potential. The system has been expanded to a generic platform that can be used to provide real-time quantitative elasticity measurements in other organs.

Quantifying stranded implant displacement following prostate brachytherapy

We aim to compute radioactive stranded-implant displacement during and after prostate brachytherapy. We present the methods used to identify corresponding seeds in planned, intra-operative and postimplant patient data that enable us to compute seed displacements. A minimum cost network flow algorithm is used, on 8 patients, for needle track detection to group seeds into needles that can be matched between datasets. An iterative best line detection algorithm is used both to help with needle detection and to register the different datasets. Our results show that there was an average seed misplacement of 5.08 +/- 2.35 mm during the procedure, which then moved another 3.10 +/- 1.91 mm by the time the quality assurance CT was taken. Several directional trends in different regions of the prostate were noted and commented on.