Richard Taschereau

Needle insertion and radioactive seed implantation in human tissues: simulation and sensitivity analysis

To facilitate training and planning for medical procedures such as prostate brachytherapy, we are developing an interactive simulation of needle insertion and radioactive seed implantation in soft tissues. We describe a new 2D dynamic FEM model based on a reduced set of scalar parameters such as needle friction, sharpness, and velocity, where the mesh is updated to maintain element boundaries along the needle shaft and the effects of needle tip and frictional forces are simulated. The computational complexity of our model grows linearly with the number of elements in the mesh and achieves 24 frames per second for 1250 triangular elements on a 750 MHz PC. We use the simulator to characterize the sensitivity of seed placement error to physician-controlled and biological parameters. Results indicate that seed placement error is highly sensitive to physician-controlled parameters such as needle position, sharpness, and friction, and less sensitive to patient-specific parameters such as tissue stiffness and compressibility.

Simulating needle insertion and radioactive seed implantation for prostate brachytherapy.

We are developing a simulation of needle insertion and radioactive seed implantation to facilitate surgeon training and planning for brachytherapy for treating prostate cancer. Inserting a needle into soft tissues causes the tissues to displace and deform: ignoring these effects during seed implantation leads to imprecise seed placements. Surgeons should learn to compensate for these effects so seeds are implanted close to their pre-planned locations. We describe a new 2-D dynamic FEM model based on a 7-phase insertion sequence where the mesh is updated to maintain element boundaries along the needle shaft. The locations of seed implants are predicted as the tissue deforms. The simulation, which achieves 24 frames per second using a 1250 triangular element mesh on a 750Mhz Pentium III PC, is available for surgeon testing by contacting ron@ieor.berkeley.edu.

Sensorless planning for medical needle insertion procedures

Medical procedures such as seed implantation, biopsies, and treatment injections require inserting a needle tip to a specific target location inside the human body. This is difficult because (1) needle insertion causes soft tissues to displace and deform, and (2) it is often difficult or impossible to obtain precise imaging data during insertion. We are developing a sensorless planning system for needle insertion that incorporates numerical optimization with a soft tissue simulation based on a dynamic FEM formulation that models the effects of needle tip and frictional forces using a 2D mesh. In this paper we describe a sensorless planning algorithm for radioactive seed implantation that computes needle insertion offsets that compensate for tissue deformations. We apply the method to seed implantation during permanent seed prostate brachytherapy to minimize seed placement error in simulation without relying on real-time imaging.

Relative biological effectiveness enhancement of a 125I brachytherapy seed with characteristic x rays from its constitutive materials.

The isotopes used for permanent prostate implants, 125I and 103Pd, provide about equivalent tumor control. The purpose of this study is to investigate how characteristic x rays may be used to raise the relative biological effectiveness (RBE) of an iodine seed at short distances to increase the differential effect between tumor and healthy tissue. Within the theoretical framework of microdosimetry, the GEANT4 Monte Carlo simulation toolkit has been used to calculate the RBE of experimental seed designs in which shell and core dimensions and composition were varied independently. A new seed model was also simulated based on the best results obtained. The RBE could be enhanced by increasing the shell thickness and for the range considered, optimum results were obtained by using gradually lower atomic number elements. For a practical 50-60 microm shell, molybdenum is the material of choice. The core diameter has little influence on RBE, but maximum effectiveness is obtained with yttrium or zirconium. These results were put together to design a Mo-shell and Y-core seed for which the RBE enhancement was at least 5-7% (close to the source), which is higher than palladium. This enhanced RBE combined with the longer half-life of iodine could mean comparable tumor control and better protection to organs at risk than with current seeds. The RBE dependence on distance is an interesting feature that could benefit other applications such as ocular melanoma or coronary brachytherapy where a highly localized dose distribution is desired.

Combination applicator for simultaneous heat and radiation

We present the development of operator and patient friendly conformal applicators that can deliver moderate temperature hyperthermia simultaneously with radiation in superficial tissue overlying contoured anatomy. This applicator combines the uniform heating capabilities of large area conformal microwave array (CMA) flexible printed circuit board applicators with a patient interface (coupling bolus) that facilitates positioning of brachytherapy sources at a fixed distance (e.g. 1.5 cm) from the skin. A customized inverse treatment planning program (IPSA) was used to optimize spacing of a parallel array of source catheters and separation distance from skin, and to characterize the effects of bolus thickness and conformal array curvature on radiation dose uniformity. Performance of a 15 cm/spl times/15 cm combination applicator was evaluated in flat and contoured homogenous muscle tissue models. Results demonstrate effective heating and radiation distributions to 1-1.5 cm depth and out to the periphery of the array. This applicator should prove useful for treatment of diffuse chestwall disease located over contoured anatomy that is difficult to treat with external beam radiation. By applying heat and radiation simultaneously for maximum synergism of modalities, this device should expand the number of patients that can benefit from effective thermoradiotherapy for superficial disease.

Radiation Dosimetry of a Conformal Heat-brachytherapy Applicator

The purpose of this paper is to report the radiation dosimetric characteristics of a new combination applicator for delivering heat and radiation simultaneously to large area superficial disease <1.5 cm deep. The applicator combines an array of brachytherapy catheters (for radiation delivery) with a conformal printed circuit board microwave antenna array (for heat generation), and a body-conforming 5–10 mm thick temperature-controlled water bolus. The rationale for applying both modalities simultaneously includes the potential for significantly higher response rate due to enhanced synergism of modalities, and lower peak toxicity due to temporal extension of heat and radiation induced toxicities. Treatment plans and radiation dosimetry are calculated with IPSA (an optimization tool developed at UCSF) for 15 × 15 cm2 and 35 × 24 cm2 applicators, lesion thicknesses of 5 to 15 mm, flat and curved surfaces, and catheter separation of 5 and 10 mm. The effect on skin dose of bolus thickness and presence of thin copper antenna structures between radiation source and tissue are also evaluated. Results demonstrate the ability of the applicator to provide conformal radiation dose coverage for up to 15 mm deep target volumes under the applicator. For clinically acceptable plans, tumor coverage is > 98%, homogeneity index > 0.95 and the percentage of normal tissue irradiated is < 20%. The dose gradient at the skin surface varies from 3 to 5 cGy/mm depending on bolus thickness and lesion depth. Attenuation of the photon beam by the printed circuit antenna array is of the order 0.25% and secondary electron emissions are absorbed completely within 5 mm of water bolus and plastic layers. Both phenomena can then be neglected in dose calculations allowing commercial software to be used for treatment planning. This novel applicator should prove useful for the treatment of diffuse chestwall disease located over contoured anatomy that may be difficult to treat with single field external beam therapy. By delivering heat and radiation simultaneously, increased synergism is expected with a TER in the range of 2–5. Lowering radiation dose by an equivalent factor may produce lower radiation toxicity with similar efficacy, while preserving the option of subsequent retreatment(s) with thermoradiotherapy in order to further extend patient survival.

A comparison of methods to calculate biological effectiveness (RBE) from Monte Carlo simulations

The relative biological effectiveness (RBE) of radiation is assessed and easily calculated by Monte Carlo simulations of the passage of radiation through matter. The expression to calculate the RBE provided by microdosimetry requires the use of the energy spectrum of charged particles. This paper compares the RBE values obtained for Palladium-103 (103Pd) and iodine-125 (125I) when calculated with 2 different spectra: the electron slowing-down spectrum and the ejection spectrum. The former yields a value of 10.6%, twice the value obtained with the latter (4.5%). Which spectrum to use is an open question. A theoretical argument is presented in favor of the ejection spectrum.

Choice of Pd-103 seed activity to minimize adverse effects due to seed misplacement associated with prostate implants

We have found that depending on the seed activity used for the implant, /sup 103/Pd treatment plans have different robustness to seed misplacement. This may be related to the average inter-seed distance, in part determined by the use of a fixed, 5-mm template for planning.