Ultrasound probe pressure as a source of error in prostate localization for external beam radiotherapy

Nondeformed Ultrasound Image Production Method for Ultrasound-Guided Radiotherapy

Purpose: During ultrasound (US)-guided radiotherapy, the tissue is deformed by probe pressure, and the US image is limited by changes in tissue and organ position and geometry when the US image is aligned with computed tomography (CT) image, leading to poor alignment. Accordingly, a pixel displacement-based nondeformed US image production method is proposed. Methods: The correction of US image deformation is achieved by calculating the pixel displacement of an image. The positioning CT image (CTstd) is used as the gold standard. The deformed US image (USdef) is inputted into the Harris algorithm to extract corner points for selecting feature points, and the displacement of adjacent pixels of feature points in the US video stream is calculated using the Lucas-Kanade optical flow algorithm. The moving least squares algorithm is used to correct USdef globally and locally in accordance with image pixel displacement to generate a nondeformed US image (USrev). In addition, USdef and USrev were separately aligned with CTstd to evaluate the improvement of alignment accuracy through deformation correction. Results: In the phantom experiment, the overall and local average correction errors of the US image under the optimal probe pressure were 1.0944 and 0.7388 mm, respectively, and the registration accuracy of USdef and USrev with CTstd was 0.6764 and 0.9016, respectively. During the volunteer experiment, the correction error of all 12 patients' data ranged from -1.7525 to 1.5685 mm, with a mean absolute error of 0.8612 mm. The improvement range of US and CT registration accuracy, before and after image deformation correction in the 12 patients evaluated by a normalized correlation coefficient, was 0.1232 to 0.2476. Conclusion: The pixel displacement-based deformation correction method can solve the limitation imposed by image deformation on image alignment in US-guided radiotherapy. Compared with USdef, the alignment results of USrev with CT were better.

Anterior neck soft tissue measurements on computed tomography to predict difficult laryngoscopy: a retrospective study

Predicting difficult laryngoscopy is an essential component of the airway management. We aimed to evaluate the use of anterior neck soft tissue measurements on computed tomography for predicting difficult laryngoscopy and to present a clear measurement protocol. In this retrospective study, 281 adult patients whose tracheas were intubated using a direct laryngoscope for thyroidectomy were enrolled. On computed tomography, the distances from the midpoint of the thyrohyoid membrane to the closest concave point of the vallecular (membrane-to-vallecula distance; dMV), and to the most distant point of the epiglottis (membrane-to-epiglottis distance; dME) were measured, respectively. The extended distances straight to the skin anterior from the dMV and dME were called the skin-to-vallecula distance (dSV) and skin-to-epiglottis distance (dSE), respectively. Difficult laryngoscopy was defined by a Cormack-Lehane grade of > 2. Difficult laryngoscopy occurred in 40 (14%) cases. Among four indices, the dMV showed the highest prediction ability for difficult laryngoscopy with an area under the receiver operating characteristic curve of 0.884 (95% confidence interval 0.841–0.919, P < 0.001). The optimal dMV cut-off value for predicting difficult laryngoscopy was 2.33 cm (sensitivity 75.0%; specificity 93.8%). The current study provides novel evidence that increased dMV is a potential predictive indicator of difficult laryngoscopy.

Feasibility of Image Registration for Ultrasound-Guided Prostate Radiotherapy Based on Similarity Measurement by a Convolutional Neural Network

Purpose:

Registration of 3-dimensional ultrasound images poses a challenge for ultrasound-guided radiation therapy of the prostate since ultrasound image content changes significantly with anatomic motion and ultrasound probe position. The purpose of this work is to investigate the feasibility of using a pretrained deep convolutional neural network for similarity measurement in image registration of 3-dimensional transperineal ultrasound prostate images.

Methods:

We propose convolutional neural network-based registration that maximizes a similarity score between 2 identical in size 3-dimensional regions of interest: one encompassing the prostate within a simulation (reference) 3-dimensional ultrasound image and another that sweeps different spatial locations around the expected prostate position within a pretreatment 3-dimensional ultrasound image. The similarity score is calculated by (1) extracting pairs of corresponding 2-dimensional slices (patches) from the regions of interest, (2) providing these pairs as an input to a pretrained convolutional neural network which assigns a similarity score to each pair, and (3) calculating an overall similarity by summing all pairwise scores. The convolutional neural network method was evaluated against ground truth registrations determined by matching implanted fiducial markers visualized in a pretreatment orthogonal pair of x-ray images. The convolutional neural network method was further compared to manual registration and a standard commonly used intensity-based automatic registration approach based on advanced normalized correlation.

Results:

For 83 image pairs from 5 patients, convolutional neural network registration errors were smaller than 5 mm in 81% of the cases. In comparison, manual registration errors were smaller than 5 mm in 61% of the cases and advanced normalized correlation registration errors were smaller than 5 mm only in 25% of the cases.

Conclusion:

Convolutional neural network evaluation against manual registration and an advanced normalized correlation -based registration demonstrated better accuracy and reliability of the convolutional neural network. This suggests that with training on a large data set of transperineal ultrasound prostate images, the convolutional neural network method has potential for robust ultrasound-to-ultrasound registration.

Evaluation of uterine ultrasound imaging in cervical radiotherapy; a comparison of autoscan and conventional probe

OBJECTIVE

In cervical radiotherapy, it is essential that the uterine position is correctly determined prior to treatment delivery. The aim of this study was to evaluate an autoscan ultrasound (A-US) probe, a motorized transducer creating three-dimensional (3D) images by sweeping, by comparing it with a conventional ultrasound (C-US) probe, where manual scanning is required to acquire 3D images.

METHODS

Nine healthy volunteers were scanned by seven operators, using the Clarity(®) system (Elekta, Stockholm, Sweden). In total, 72 scans, 36 scans from the C-US and 36 scans from the A-US probes, were acquired. Two observers delineated the uterine structure, using the software-assisted segmentation in the Clarity workstation. The data of uterine volume, uterine centre of mass (COM) and maximum uterine lengths, in three orthogonal directions, were analyzed.

RESULTS

In 53% of the C-US scans, the whole uterus was captured, compared with 89% using the A-US. F-test on 36 scans demonstrated statistically significant differences in interobserver COM standard deviation (SD) when comparing the C-US with the A-US probe for the inferior-superior (p < 0.006), left-right (p < 0.012) and anteroposterior directions (p < 0.001). The median of the interobserver COM distance (Euclidean distance for 36 scans) was reduced from 8.5 (C-US) to 6.0 mm (A-US). An F-test on the 36 scans showed strong significant differences (p < 0.001) in the SD of the Euclidean interobserver distance when comparing the C-US with the A-US scans. The average Dice coefficient when comparing the two observers was 0.67 (C-US) and 0.75 (A-US). The predictive interval demonstrated better interobserver delineation concordance using the A-US probe.

CONCLUSION

The A-US probe imaging might be a better choice of image-guided radiotherapy system for correcting for daily uterine positional changes in cervical radiotherapy.

ADVANCES IN KNOWLEDGE

Using a novel A-US probe might reduce the uncertainty in interoperator variability during ultrasound scanning.

Impact of ultrasound probe pressure on uterine positional displacement in gynecologic cancer patients

AIM

The aim of this study was to quantify the uterine positional displacement induced by ultrasound probe pressure on a phantom and address the daily uterine motion in a healthy volunteer.

MATERIALS & METHODS

The phantom mimics the female pelvic region. The incorporated organs were subjected to displacement. A total of 42 phantom scans and 16 volunteer scans were acquired. The uterine shifts were measured in three directions.

RESULTS & DISCUSSION

The difference of uterine positional displacements, using pressure versus without pressure on the phantom, was not statistically significant. The daily uterine positional variations of the volunteer were larger than the probe pressure induced displacements.

CONCLUSION

The larger daily uterine shifts of the volunteer outweighed the submillimeter impact of the probe pressure in all directions.

Prostate displacement during transabdominal ultrasound image-guided radiotherapy assessed by real-time four-dimensional transperineal monitoring

BACKGROUND

Transabdominal ultrasound (TAUS) imaging is currently available for localizing the prostate in daily image-guided radiotherapy (IGRT). The aim of this study was to determine the induced prostate displacement during such TAUS imaging. The prostate displacement was monitored using a novel transperineal four-dimensional (4D) US (TPUS) system.

MATERIAL AND METHODS

Ten prostate cancer patients, with a mean age of 68 years (58/76), were US scanned in the computed tomography (CT) room utilizing the Clarity 4D TPUS monitoring system. The patients were asked to comply with a moderate bladder filling protocol. After US-CT fusion, the prostate volume was delineated and used as a reference for weekly US imaging in the treatment room. Immediately after treatment delivery the TPUS monitoring system was set up. During real-time monitoring of the prostate, a conventional 2D probe was applied to simulate a TAUS scan. The time dependent prostate displacements induced by the 2D probe pressure were recorded for the three orthogonal directions. In total 42 monitoring curves with applied 2D probe were recorded.

RESULTS

Data analysis of 42 US scans resulted in pressure induced prostate displacements with mean values (± 1 SD) (mm); inferior (+)-superior (I/S): (-0.1 ± 0.8); left (+)-right (L/R): (0.2 ± 0.7); and anterior (+)-posterior (A/P): (-0.1 ± 1.0). The majority of the displacements were within 1-2 mm. Only two scans (5%) (A/P direction) and 16% of Euclidean distances were larger than 2.0 mm. The largest displacement was 2.6 mm in the anterior direction.

CONCLUSION

The novel 4D TPUS system was capable of tracking and recording the prostate positional displacements. The study demonstrated that the prostate induced displacements due to applied TAUS IGRT are small, and in most cases clinically irrelevant to prostate radiotherapy.

Image-Guided Radiotherapy for Prostate Cancer using 3 Different Techniques: Localization Data of 186 Patients

Aims and Background

This study evaluates 3 different imaging modalities—ultrasound (US), stereoscopic X-ray imaging of implanted markers (Visicoils) (X-ray), and kV cone-beam computed tomography (CBCT)—to assess interfraction and intrafraction localization error during conformal radiation therapy of prostate cancer.

Methods and Study Design

The study population consisted of 186 consecutive prostate cancer patients treated with an image-guided radiotherapy (IGRT) hypofractionated protocol using 3 techniques: 32 with X-ray, 30 with CBCT, and 124 with US. Treatment dose of 70.2 Gy was delivered in 26 fractions with a conformal dynamic arcs technique. Interfraction prostate localization errors were determined for the 3 techniques. Moreover, interfraction and intrafraction prostate motion in terms of translations and rotations, as well as residual errors, were determined with X-ray.

Results

The systematic and random components of the prostate localization errors were as follows: ( 1 ) with X-ray 3.0 ± 3.4, 2.3 ± 2.7, 1.8 ± 2.3 mm in anterior-posterior (AP), superior-inferior (SI), and left-right (LR) directions and 1.8° ± 1.2°, 2.3° ± 1.5°, 2.7° ± 3.1°, for the yaw, roll, and pitch rotations; ( 2 ) with CBCT3.5 ± 4.2, 3.3 ± 3.3, 2.5 ± 3.1 mm in AP, SI, and LR directions; ( 3 ) with US 3.7 ± 4.7, 3.4 ± 4.3, 2.3 ± 3.5 mm in AP, SI, and LR directions. Residual errors with X-ray were less than 1 mm in all directions. Intrafraction prostate motion of less than 0.5 mm in LR and of the order of 1 mm in AP and SI directions was found. This led to a significant reduction of the margins, potentially important for dose escalation studies.

Conclusions

Daily on-line IGRT with stereoscopic X-ray imaging allowed a consistent PTV margin reduction considering residual interfraction prostate localization error and intrafraction motion. X-ray offers the best compromise among accuracy, reliability, dose to the patient, and time investment for daily IGRT treatment of prostate.

A realistic deformable prostate phantom for multimodal imaging and needle-insertion procedures

PURPOSE

Phantoms are a vital step for the preliminary validation of new image-guided procedures. In this paper, the authors present a deformable prostate phantom for use with multimodal imaging (end-fire or side-fire ultrasound, CT and MRI) and more specifically for transperineal or transrectal needle-insertion procedures. It is made of soft polyvinyl chloride (PVC) plastic and includes a prostate, a perineum, a rectum, a soft periprostatic surrounding and embedded targets for image registration and needle-targeting. Its main particularity is its realistic deformability upon manipulation.

METHODS

After a detailed manufacturing description, the imaging and mechanical characteristics of the phantom are described and evaluated. First, the speed of sound and stress-strain relationship of the PVC material used in the phantom are described, followed by an analysis of its storage, imaging, needle-insertion force, and deformability characteristics.

RESULTS

The average speed of sound in the phantom was measured to be 1380 ± 20 m/s, while the stress-strain relationship was found to be viscoelastic and in the range of typical prostatic tissues. The mechanical and imaging characteristics of the phantom were found to remain stable at cooler storage temperatures. The phantom had clearly distinguishable morphology in all three imaging modalities, with embedded targets that could be precisely segmented, resulting in an average US-CT rigid registration error of 0.66 mm. The mobility of the phantom prostate upon needle insertion was between 2 and 4 mm, with rotations between 0° and 2°, about the US probe head.

CONCLUSION

The phantom's characteristics compare favorably with in vitro and in vivo measurements found in the literature. The authors believe that this realistic phantom could be of use to researchers studying new needle-based prostate diagnosis and therapy techniques.

Non-rigid registration between 3D ultrasound and CT images of the liver based on intensity and gradient information

In order to utilize both ultrasound (US) and computed tomography (CT) images of the liver concurrently for medical applications such as diagnosis and image-guided intervention, non-rigid registration between these two types of images is an essential step, as local deformation between US and CT images exists due to the different respiratory phases involved and due to the probe pressure that occurs in US imaging. This paper introduces a voxel-based non-rigid registration algorithm between the 3D B-mode US and CT images of the liver. In the proposed algorithm, to improve the registration accuracy, we utilize the surface information of the liver and gallbladder in addition to the information of the vessels inside the liver. For an effective correlation between US and CT images, we treat those anatomical regions separately according to their characteristics in US and CT images. Based on a novel objective function using a 3D joint histogram of the intensity and gradient information, vessel-based non-rigid registration is followed by surface-based non-rigid registration in sequence, which improves the registration accuracy. The proposed algorithm is tested for ten clinical datasets and quantitative evaluations are conducted. Experimental results show that the registration error between anatomical features of US and CT images is less than 2 mm on average, even with local deformation due to different respiratory phases and probe pressure. In addition, the lesion registration error is less than 3 mm on average with a maximum of 4.5 mm that is considered acceptable for clinical applications.

Comparison of transabdominal ultrasound and electromagnetic transponders for prostate localization

The aim of this study is to compare two methodologies of prostate localization in a large cohort of patients. Daily prostate localization using B‐mode ultrasound has been performed at the Nebraska Medical Center since 2000. More recently, a technology using electromagnetic transponders implanted within the prostate was introduced into our clinic (Calypso). With each technology, patients were localized initially using skin marks. Localization error distributions were determined from offsets between the initial setup positions and those determined by ultrasound or Calypso. Ultrasound localization data was summarized from 16,619 imaging sessions spanning seven years. Calypso localization data consists of 1524 fractions in 41 prostate patients treated in the course of a clinical trial at five institutions and 640 localizations from the first 16 patients treated with our clinical system. Ultrasound and Calypso patients treated between March and September 2007 at the Nebraska Medical Center were analyzed and compared, allowing a single institutional comparison of the two technologies. In this group of patients, the isocenter determined by ultrasound‐based localization is on average 5.3 mm posterior to that determined by Calypso, while the systematic and random errors and PTV margins calculated from the ultrasound localizations were 3–4 times smaller than those calculated from the Calypso localizations.

Our study finds that there are systematic differences between Calypso and ultrasound for prostate localization.

PACS number: 87.63.dh

Evaluation of a three-dimensional ultrasound localisation system incorporating probe pressure correction for use in partial breast irradiation

This work evaluates a three-dimensional (3D) freehand ultrasound-based localisation system with new probe pressure correction for use in partial breast irradiation. Accuracy and precision of absolute position measurement was measured as a function of imaging depth (ID), object depth, scanning direction and time using a water phantom containing crossed wires. To quantify the improvement in accuracy due to pressure correction, 3D scans of a breast phantom containing ball bearings were obtained with and without pressure. Ball bearing displacements were then measured with and without pressure correction. Using a single scan direction (for all imaging depths), the mean error was <1.3 mm, with the exception of the wires at 68.5 mm imaged with an ID of 85 mm, which gave a mean error of -2.3 mm. Precision was greater than 1 mm for any single scan direction. For multiple scan directions, precision was within 1.7 mm. Probe pressure corrections of between 0 mm and 2.2 mm have been observed for pressure displacements of 1.1 mm to 4.2 mm. Overall, anteroposterior position measurement accuracy increased from 2.2 mm to 1.6 mm and to 1.4 mm for the two opposing scanning directions. Precision is comparable to that reported for other commercially available ultrasound localisation systems, provided that 3D image acquisition is performed in the same scan direction. The existing temporal calibration is imperfect and a "per installation" calibration would further improve the accuracy and precision. Probe pressure correction was shown to improve the accuracy and will be useful for the localisation of the excision cavity in partial breast radiotherapy.

EUS-guided fiducial placement before targeted radiation therapy for prostate cancer

BACKGROUND

Image-guided radiation therapy allows the delivery of precisely aimed radiation beams to tumors while minimizing radiation to adjacent normal tissue. This is particularly important in the prostate, a moving target whose positioning depends on the dynamics of its neighboring bladder and rectum. Targeted radiation therapy can be achieved by using implantable radiographic markers, or fiducials, which serve as reference points to accurately delineate tumors.

OBJECTIVE

To determine the feasibility and safety of placing fiducials in the prostate under linear array EUS guidance to facilitate targeted radiation therapy.

DESIGN

Retrospective analysis of a prospective database.

SETTING

University of Miami Hospital and Clinics, a tertiary cancer referral center.

PATIENTS

Localized prostate cancer patients scheduled to undergo intensity-modulated radiation therapy.

INTERVENTIONS

A total of 16 patients underwent EUS-guided fiducial placement to delineate the prostate before planned radiation therapy.

RESULTS

Fiducial placement was successful in all patients (100%). A total of 71 gold markers were deployed in a 4-quadrant manner outlining the prostate. Seven of 16 patients had an additional fiducial placed to ensure adequate prostate delineation. Patients tolerated the procedure well with minimal discomfort. No complications developed from the procedure.

LIMITATIONS

Single-center experience, small sample size.

CONCLUSIONS

EUS-guided placement of fiducials to facilitate image-guided radiation therapy for prostate cancer is a feasible alternative to transperineal or transrectal US approaches, thereby adding to the expanding list of indications for linear EUS. This procedure can be safely performed by endosonographers familiar with perirectal anatomy and transrectal FNA technique.

Effect of body mass index on shifts in ultrasound-based image-guided intensity-modulated radiation therapy for abdominal malignancies

BACKGROUND AND PURPOSE

We investigated whether corrective shifts determined by daily ultrasound-based image-guidance correlate with body mass index (BMI) of patients treated with image-guided intensity-modulated radiation therapy (IG-IMRT) for abdominal malignancies. The utility of daily image-guidance, particularly for patients with BMI>25.0, is examined.

MATERIALS AND METHODS

Total 3162 ultrasound-directed shifts were performed in 86 patients. Direction and magnitude of shifts were correlated with pretreatment BMI. Bivariate statistical analysis and analysis of set-up correction data were performed using systematic and random error calculations.

RESULTS

Total 2040 daily alignments were performed. Average 3D vector of set-up correction for all patients was 12.1mm/fraction. Directional and absolute shifts and 3D vector length were significantly different between BMI cohorts. 3D displacement averaged 4.9 mm/fraction and 6.8mm/fraction for BMI < or = 25.0 and BMI>25.0, respectively. Systematic error in all axes and 3D vector was significantly greater for BMI>25.0. Differences in random error were not statistically significant.

CONCLUSIONS

Set-up corrections derived from daily ultrasound-based IG-IMRT of abdominal tumors correlated with BMI. Daily image-guidance may improve precision of IMRT delivery with benefits assessed for the entire population, particularly patients with increased habitus. Requisite PTV margins suggested in the absence of daily image-guidance are significantly greater in patients with BMI>25.0.

Evaluation of targeting errors in ultrasound-assisted radiotherapy

A method for validating the start-to-end accuracy of a 3-D ultrasound (US)-based patient positioning system for radiotherapy is described. A radiosensitive polymer gel is used to record the actual dose delivered to a rigid phantom after being positioned using 3-D US guidance. Comparison of the delivered dose with the treatment plan allows accuracy of the entire radiotherapy treatment process, from simulation to 3-D US guidance, and finally delivery of radiation, to be evaluated. The 3-D US patient positioning system has a number of features for achieving high accuracy and reducing operator dependence. These include using tracked 3-D US scans of the target anatomy acquired using a dedicated 3-D ultrasound probe during both the simulation and treatment sessions, automatic 3-D US-to-US registration and use of infrared LED (IRED) markers of the optical position-sensing system for registering simulation computed tomography to US data. The mean target localization accuracy of this system was 2.5 mm for four target locations inside the phantom, compared with 1.6 mm obtained using the conventional patient positioning method of laser alignment. Because the phantom is rigid, this represents the best possible set-up accuracy of the system. Thus, these results suggest that 3-D US-based target localization is practically feasible and potentially capable of increasing the accuracy of patient positioning for radiotherapy in sites where day-to-day organ shifts are greater than 1 mm in magnitude.

Comparison of daily couch shifts using MVCT (TomoTherapy) and B-mode ultrasound (BAT System) during prostate radiotherapy

The purpose of this study was to compare daily couch shifts after prostate localization between megavoltage CT (MVCT, Hi-ART TomoTherapy) and b-mode ultrasound (BAT system). Nine hundred and thirteen couch shifts from 22 consecutive patients treated using MVCT localization were compared to 853 shifts from 23 randomly selected patients treated using b-mode ultrasound prostate localization. Shifts were made in three principal axes based on prostate position after comparing daily images to the initial planning CT. Mean shift for each axis and the shift variability both between and within individual subjects were calculated. Variability was higher for BAT compared to MVCT for vertical and cranial-caudal (CC) shifts (p=0.0084 and 0.01037, respectively), while lateral shifts were significantly greater for MVCT. For each individual, the pairwise correlations between shifts in different axes were calculated. Among all the groups and pairings, only the pairing of vertical and cranial/caudal adjustments in BAT-localized patients showed significant evidence of correlation after adjustment for multiple pairwise comparisons (p=0.0006). When compared to MVCT, the use of BAT for prostate localization results in greater variability of positional adjustments in vertical and CC directions. This likely reflects differences in the ability to precisely align b-mode ultrasound contours to KVCT images, as well as prostate excursion in vertical and CC direction caused by the ultrasound probe. These considerations need to be made when defining treatment volumes, and argue for the use of less disruptive techniques for daily prostate localization.

Anatomical imaging for radiotherapy

The goal of radiation therapy is to achieve maximal therapeutic benefit expressed in terms of a high probability of local control of disease with minimal side effects. Physically this often equates to the delivery of a high dose of radiation to the tumour or target region whilst maintaining an acceptably low dose to other tissues, particularly those adjacent to the target. Techniques such as intensity modulated radiotherapy (IMRT), stereotactic radiosurgery and computer planned brachytherapy provide the means to calculate the radiation dose delivery to achieve the desired dose distribution. Imaging is an essential tool in all state of the art planning and delivery techniques: (i) to enable planning of the desired treatment, (ii) to verify the treatment is delivered as planned and (iii) to follow-up treatment outcome to monitor that the treatment has had the desired effect. Clinical imaging techniques can be loosely classified into anatomic methods which measure the basic physical characteristics of tissue such as their density and biological imaging techniques which measure functional characteristics such as metabolism. In this review we consider anatomical imaging techniques. Biological imaging is considered in another article. Anatomical imaging is generally used for goals (i) and (ii) above. Computed tomography (CT) has been the mainstay of anatomical treatment planning for many years, enabling some delineation of soft tissue as well as radiation attenuation estimation for dose prediction. Magnetic resonance imaging is fast becoming widespread alongside CT, enabling superior soft-tissue visualization. Traditionally scanning for treatment planning has relied on the use of a single snapshot scan. Recent years have seen the development of techniques such as 4D CT and adaptive radiotherapy (ART). In 4D CT raw data are encoded with phase information and reconstructed to yield a set of scans detailing motion through the breathing, or cardiac, cycle. In ART a set of scans is taken on different days. Both allow planning to account for variability intrinsic to the patient. Treatment verification has been carried out using a variety of technologies including: MV portal imaging, kV portal/fluoroscopy, MVCT, conebeam kVCT, ultrasound and optical surface imaging. The various methods have their pros and cons. The four x-ray methods involve an extra radiation dose to normal tissue. The portal methods may not generally be used to visualize soft tissue, consequently they are often used in conjunction with implanted fiducial markers. The two CT-based methods allow measurement of inter-fraction variation only. Ultrasound allows soft-tissue measurement with zero dose but requires skilled interpretation, and there is evidence of systematic differences between ultrasound and other data sources, perhaps due to the effects of the probe pressure. Optical imaging also involves zero dose but requires good correlation between the target and the external measurement and thus is often used in conjunction with an x-ray method. The use of anatomical imaging in radiotherapy allows treatment uncertainties to be determined. These include errors between the mean position at treatment and that at planning (the systematic error) and the day-to-day variation in treatment set-up (the random error). Positional variations may also be categorized in terms of inter- and intra-fraction errors. Various empirical treatment margin formulae and intervention approaches exist to determine the optimum strategies for treatment in the presence of these known errors. Other methods exist to try to minimize error margins drastically including the currently available breath-hold techniques and the tracking methods which are largely in development. This paper will review anatomical imaging techniques in radiotherapy and how they are used to boost the therapeutic benefit of the treatment.

Quality Assurance of Image-Guidance Technologies

The introduction of image-guided radiotherapy systems (IGS) allows improved management of geometric variations in patient setup and internal organ motion. Commercially available technologies, based on ultrasound, projection radiography, or cone-beam CT, have been widely adopted in radiation therapy. All rely on the comparison of daily images with reference images of the patient anatomy to ensure coincidence of the treatment and planned isocenters. This article reviews how IGS hardware and software are commissioned for clinical release and what quality control checks are required to ensure consistent and reproducible geometric accuracy. As image guidance significantly modifies conventional radiotherapy processes, recommendations and potential issues are discussed to facilitate the introduction of image guidance into the clinical environment.

X-ray–assisted positioning of patients treated by conformal arc radiotherapy for prostate cancer: Comparison of setup accuracy using implanted markers versus bony structures

PURPOSE

The aim of this study was to compare setup accuracy of NovalisBody stereoscopic X-ray positioning using implanted markers in the prostate vs. bony structures in patients treated with dynamic conformal arc radiotherapy for prostate cancer.

METHODS AND MATERIALS

Random and systematic setup errors (RE and SE) of the isocenter with regard to the center of gravity of three fiducial markers were measured by means of orthogonal verification films in 120 treatment sessions in 12 patients. Positioning was performed using NovalisBody semiautomated marker fusion. The results were compared with a control group of 261 measurements in 15 patients who were positioned with NovalisBody automated bone fusion. In addition, interfraction and intrafraction prostate motion was registered in the patients with implanted markers.

RESULTS

Marker-based X-ray positioning resulted in a reduction of RE as well as SE in the anteroposterior, craniocaudal, and left-right directions compared with those in the control group. The interfraction prostate displacements with regard to the bony pelvis that could be avoided by marker positioning ranged between 1.6 and 2.8 mm for RE and between 1.3 and 4.3 mm for SE. Intrafraction random and systematic prostate movements ranged between 1.4 and 2.4 mm and between 0.8 and 1.3 mm, respectively.

CONCLUSION

The problem of interfraction prostate motion can be solved by using implanted markers. In addition, the NovalisBody X-ray system performs more accurately with markers compared with bone fusion. Intrafraction organ motion has become the limiting factor for margin reduction around the clinical target volume.

Ultrasound-based guidance of intensity-modulated radiation therapy

In ultrasound-guided intensity-modulated radiation therapy (IMRT) of prostate cancer, ultrasound imaging ascertains the anatomical position of patients during x-ray therapy delivery. The ultrasound transducers are made of piezoelectric ceramics. The same crystal is used for both ultrasound production and reception. Three-dimensional (3D) ultrasound devices capture and correlate series of 2-dimensional (2D) B-mode images. The transducers are often arranged in a convex array for focusing. Lower frequency reaches greater depth, but results in low resolution. For clear image, some gel is usually applied between the probe and the skin contact surface. For prostate positioning, axial and sagittal scans are performed, and the volume contours from computed tomography (CT) planning are superimposed on the ultrasound images obtained before radiation delivery at the linear accelerator. The planning volumes are then overlaid on the ultrasound images and adjusted until they match. The computer automatically deduces the offset necessary to move the patient so that the treatment area is in the correct location. The couch is translated as needed. The currently available commercial equipment can attain a positional accuracy of 1-2 mm. Commercial manufacturer designs differ in the detection of probe coordinates relative to the isocenter. Some use a position-sensing robotic arm, while others have infrared light-emitting diodes or pattern-recognition software with charge-couple-device cameras. Commissioning includes testing of image quality and positional accuracy. Ultrasound is mainly used in prostate positioning. Data for 7825 daily fractions of 234 prostate patients indicated average 3D inter-fractional displacement of about 7.8 mm. There was no perceivable trend of shift over time. Scatter plots showed slight prevalence toward superior-posterior directions. Uncertainties of ultrasound guidance included tissue inhomogeneities, speckle noise, probe pressure, and inter-observer variation. Some published studies detected improvement in treatment based on gastrointestinal toxicity and the reduction of prostate movement.

A comparison of CT- and ultrasound-based imaging to localize the prostate for external beam radiotherapy

PURPOSE

This study assesses the accuracy of NOMOS B-mode acquisition and targeting system (BAT) compared with computed tomography (CT) in localizing the prostate.

METHODS AND MATERIALS

Twenty-six patients were CT scanned, and the prostate was localized by 3 observers using the BAT system. The BAT couch shift measurements were compared with the CT localization. Six of the patients had gold markers present in the prostate, and the prostate movement determined by BAT was compared with the movement determined by the gold markers.

RESULTS

Using the BAT system, the 3 observers determined the prostate position to be a mean of 1-5 mm over all directions with respect to the CT. The proportion of readings with a difference >3 mm between the observers was in the range of 25% to 44%. The prostate movement based on gold markers was an average of 3-5 mm different from that measured by BAT. The literature assessing the accuracy and reproducibility on BAT is summarized and compared with our findings.

CONCLUSIONS

We have found that there are systematic differences between the BAT-defined prostate position compared with that estimated on CT using gold grain marker seeds.

Guidelines for primary radiotherapy of patients with prostate cancer

BACKGROUND AND PURPOSES

The appropriate application of 3-D conformal radiotherapy, intensity modulated radiotherapy or image guided radiotherapy for patients undergoing radiotherapy for prostate cancer requires a standardisation of target delineation as well as clinical quality assurance procedures.

PATIENTS AND METHODS

Pathological and imaging studies provide valuable information on tumour extension. In addition, clinical investigations on patient positioning and immobilisation as well as treatment verification data offer an abundance of information.

RESULTS

Target volume definitions for different risk groups of prostate cancer patients based on pathological and imaging studies are provided. Available imaging modalities, patient positioning and treatment preparation studies as well as verification procedures are collected from literature studies. These studies are summarised and recommendations are given where appropriate.

CONCLUSIONS

On behalf of the European Organisation for Research and Treatment of Cancer (EORTC) Radiation Oncology Group this article presents a common set of recommendations for external beam radiotherapy of patients with prostate cancer.

Comparison of ultrasound and implanted seed marker prostate localization methods: Implications for image-guided radiotherapy

PURPOSE

To analyze two methods of image-guided radiotherapy (IGRT) for external beam radiotherapy of prostate cancer.

METHODS AND MATERIALS

The prostate was localized by ultrasound (US) in lateral (left/right), vertical (anteroposterior), and longitudinal (superior/inferior) dimensions and then by fiducial seed marker (SM) kV X-ray. Assuming initial setup to skin marks as the origin, the mean suggested shifts (for all dimensions) were hypothesized to be similar and within 1 mm of the origin. The three-dimensional distance discrepancy between suggested SM and US shift points was calculated. We hypothesized a mean discrepancy >5 mm as clinically significant.

RESULTS

From 40 patients, 1019 US/SM measurements were obtained. Lateral, vertical, and longitudinal dimensional comparisons reveal statistically significant differences in mean shifts (p < 0.0001 for all). US dimensional shifts reveal significantly greater variability. The US three-dimensional vector is greater and more variable than the SM vector (p < 0.0001). The mean US/SM three-dimensional distance discrepancy is 8.8 mm (significantly >5 mm, p < 0.0001).

CONCLUSIONS

Ultrasound and SM methods suggest different shifts. US data reveal greater systematic/random error vs. SM data. The US data suggest larger PTV expansion margins (approximately 9 mm) are necessary for US IGRT vs. SM IGRT (approximately 3 mm). The hypotheses that US and SM methods suggest similar shifts and that the mean US/SM three-dimensional distance discrepancy is < or =5 mm are rejected.