Stereotactic biopsies guided by an optical navigation system: technique and clinical experience

Preclinical evaluation of a prototype freehand drill video guidance system for orthopedic surgery

Purpose: Internal fixation of pelvic fractures is a challenging task requiring the placement of instrumentation within complex three-dimensional bone corridors, typically guided by fluoroscopy. We report a system for two- and three-dimensional guidance using a drill-mounted video camera and fiducial markers with evaluation in first preclinical studies. Approach: The system uses a camera affixed to a surgical drill and multimodality (optical and radio-opaque) markers for real-time trajectory visualization in fluoroscopy and/or CT. Improvements to a previously reported prototype include hardware components (mount, camera, and fiducials) and software (including a system for detecting marker perturbation) to address practical requirements necessary for translation to clinical studies. Phantom and cadaver experiments were performed to quantify the accuracy of video-fluoroscopy and video-CT registration, the ability to detect marker perturbation, and the conformance in placing guidewires along realistic pelvic trajectories. The performance was evaluated in terms of geometric accuracy and conformance within bone corridors. Results: The studies demonstrated successful guidewire delivery in a cadaver, with a median entry point error of 1.00 mm (1.56 mm IQR) and median angular error of 1.94 deg (1.23 deg IQR). Such accuracy was sufficient to guide K-wire placement through five of the six trajectories investigated with a strong level of conformance within bone corridors. The sixth case demonstrated a cortical breach due to extrema in the registration error. The system was able to detect marker perturbations and alert the user to potential registration issues. Feasible workflows were identified for orthopedic-trauma scenarios involving emergent cases (with no preoperative imaging) or cases with preoperative CT. Conclusions: A prototype system for guidewire placement was developed providing guidance that is potentially compatible with orthopedic-trauma workflow. First preclinical (cadaver) studies demonstrated accurate guidance of K-wire placement in pelvic bone corridors and the ability to automatically detect perturbations that degrade registration accuracy. The preclinical prototype demonstrated performance and utility supporting translation to clinical studies.

Feasability of a Frameless Brain Biopsy System for Companion Animals Using Cone-Beam CT-Based Automated Registration

The aim of the present study was to evaluate the use of a novel intraoperative cone-beam computed tomography (CBCT)-based automated registration system for frameless stereotactic brain biopsy in companion animals. An experimental cadaveric study evaluated thalamic and piriform lobe target site needle placement error in three dogs and three cats without a history of intracranial disease. Diagnostic accuracy and diagnostic yield were prospectively evaluated in twenty-four client-owned dogs and four cats with intracranial disease. Twenty-one procedures were performed post mortem (eighteen dogs and three cats), and seven biopsy procedures were performed in alive patients (six dogs and one cat). Procedural duration was evaluated in ten post mortem and four living patients. Outcome was evaluated in six dogs and one cat. In dogs, the calculated median needle placement error was 1.8 mm (range 0.71–2.84 mm) and 1.53 mm (range 1.45–1.99 mm) for piriform lobe and thalamus target sites, respectively. In cats, the calculated median needle placement error was 0.79 mm (range 0.6–1.91 mm) for the piriform lobe target site and 1.29 mm (range 0.47–2.69 mm) for the thalamic target site. The diagnostic yield was 96.4% (95% CI 0.81–0.99), the diagnostic accuracy was 94.4% (95% CI 0.72–0.99). Median total procedural duration for post mortem biopsies was 57.5 min (range 41–69 min). Median total procedural duration for intra vitam biopsies was 122.5 min (range 103–136 min). Three dogs were discharged 1 day after biopsy and one dog after 6 days. Two dogs and one cat were euthanized 24 and 48 h after biopsy. Intraoperative CBCT-based automated image registration for frameless stereotactic biopsies in companion animals is capable of providing diagnostic brain biopsy specimens independent of skull size and morphology with diagnostic yield and accuracy comparable to published values for diverse frameless and frame-based stereotaxy systems used in veterinary medicine. Duration of the procedure is not negatively affected and within the published range with other systems. Mobile intraoperative CBCT-based registration combined with neuronavigation delivers diagnostic brain biopsies in companion animals.

Factors affecting diagnostic yield in stereotactic biopsy for brain lesions: a 5-year single-center series

The objective of this study is to determine the factors that are associated with the diagnostic yield of stereotactic brain biopsy. A retrospective analysis was performed on 50 consecutive patients who underwent stereotactic brain biopsies in a single institute from 2014 to 2019. Variables including age, gender, lesion topography and characteristics, biopsy methods, and surgeon's experience were analyzed along with diagnostic rate. This study included 31 male and 19 female patients with a mean age of 48.4 (range: 1-76). Of these, 25 underwent frameless brain-suite stereotactic biopsies, 15 were frameless Portable Brain-lab® stereotactic biopsies and 10 were frame-based CRW® stereotactic biopsies. There was no statistical difference between the diagnostic yield of the three methods. The diagnostic yield in our series was 76%. Age, gender, and biopsy methods had no impact on diagnostic yield. Periventricular and pineal lesion biopsies were significantly associated with negative diagnostic yield (p = 0.01) whereas larger lesions were significantly associated with a positive yield (p = 0.01) with the mean volume of lesions in the positive yield group (13.6 cc) being higher than the negative yield group (7 cc). The diagnostic yields seen between senior and junior neurosurgeons in the biopsy procedure were 95% and 63%, respectively (p = 0.02). Anatomical location of the lesion, volume of the lesion, and experience of the surgeon have significant impacts on the diagnostic yield in stereotactic brain biopsy. There was no statistical difference between the diagnostic yield of the three methods, age, gender, and depth of lesion.

Drill-mounted video guidance for orthopaedic trauma surgery

Purpose: Percutaneous fracture fixation is a challenging procedure that requires accurate interpretation of fluoroscopic images to insert guidewires through narrow bone corridors. We present a guidance system with a video camera mounted onboard the surgical drill to achieve real-time augmentation of the drill trajectory in fluoroscopy and/or CT. Approach: The camera was mounted on the drill and calibrated with respect to the drill axis. Markers identifiable in both video and fluoroscopy are placed about the surgical field and co-registered by feature correspondences. If available, a preoperative CT can also be co-registered by 3D-2D image registration. Real-time guidance is achieved by virtual overlay of the registered drill axis on fluoroscopy or in CT. Performance was evaluated in terms of target registration error (TRE), conformance within clinically relevant pelvic bone corridors, and runtime. Results: Registration of the drill axis to fluoroscopy demonstrated median TRE of 0.9 mm and 2.0 deg when solved with two views (e.g., anteroposterior and lateral) and five markers visible in both video and fluoroscopy-more than sufficient to provide Kirschner wire (K-wire) conformance within common pelvic bone corridors. Registration accuracy was reduced when solved with a single fluoroscopic view ( TRE = 3.4    mm and 2.7 deg) but was also sufficient for K-wire conformance within pelvic bone corridors. Registration was robust with as few as four markers visible within the field of view. Runtime of the initial implementation allowed fluoroscopy overlay and/or 3D CT navigation with freehand manipulation of the drill up to 10    frames / s . Conclusions: A drill-mounted video guidance system was developed to assist with K-wire placement. Overall workflow is compatible with fluoroscopically guided orthopaedic trauma surgery and does not require markers to be placed in preoperative CT. The initial prototype demonstrates accuracy and runtime that could improve the accuracy of K-wire placement, motivating future work for translation to clinical studies.

Real-time MR-guided brain biopsy using 1.0-T open MRI scanner

OBJECTIVES

To evaluate the safety, feasibility and diagnostic performance of real-time MR-guided brain biopsy using a 1.0-T open MRI scanner.

METHODS

Medical records of 86 consecutive participants who underwent brain biopsy under the guidance of a 1.0-T open MRI scanner with real-time and MR fluoroscopy techniques were evaluated retrospectively. All procedures were performed under local anaesthesia and intravenous conscious sedation. Diagnostic yield, diagnostic accuracy, complication rate and procedure duration were assessed. The lesions were divided into two groups according to maximum diameters: ≤ 1.5 cm (n = 16) and > 1.5 cm (n = 70). The two groups were compared using Fisher's exact test.

RESULTS

Diagnostic yield and diagnostic accuracy were 95.3% and 94.2%, respectively. The diagnostic yield of lesions ≤ 1.5 cm and > 1.5 cm were 93.8% and 95.7%, respectively. There was no significant difference in diagnostic yield between the two groups (p > 0.05). Mean procedure duration was 41 ± 5 min (range 33-49 min). All biopsy needles were placed with one pass. Complication rate was 3.5% (3/86). Minor complications included three cases of a small amount of haemorrhage. No serious complications were observed.

CONCLUSIONS

Real-time MR-guided brain biopsy using a 1.0-T open MRI scanner is a safe, feasible and accurate diagnostic technique for pathological diagnosis of brain lesions. The procedure duration is shortened and biopsy work flow is simplified. It could be considered as an alternative for brain biopsy.

KEY POINTS

• Real-time MRI-guided brain biopsy using a 1.0-T open MRI scanner is safe, feasible and accurate. • No serious complications occurred in real-time MRI-guided brain biopsy. • Procedure duration is shortened and biopsy work flow is simplified.

Factors affecting diagnostic yield in needle biopsy for brain lesions

INTRODUCTION

We analyse the factors that are associated with the diagnostic yield of needle brain biopsy.

MATERIAL AND METHODS

We present a retrospective series of 124 consecutive biopsies in a 30-month period. Patients' demographics (age, gender), lesion topography (side, location, depth), lesion characteristics (histology, volume, radiological enhancement), type of biopsy procedure (freehand, ultrasound guided, frameless and frame-based stereotactic) and the use of intraoperative histologic examination were correlated with the diagnostic rate. Descriptive statistics and a nominal logistic regression model were used to evaluate the factors influencing diagnostic yield.

RESULTS

63 men and 61 women were included in the study with mean age 59.2 (range: 16-86). 55 were frame-based stereotactic biopsies, 33 were frameless stereotactic biopsies, 29 biopsies were performed under ultrasound guidance and 7 freehand. The diagnostic yield in our series is 93.5%. The gender, lesion topography, biopsy method, use of intraoperative histology and enhancement did not correlate with the diagnostic yield. Younger age had a negative impact on diagnostic yield. 6 out of 8 inconclusive biopsies were in non-glial lesions (p < 0.05). The odds of obtaining a positive diagnosis increased sevenfold with every cc increase in lesion volume.

CONCLUSION

The age of the patient, the volume and the histology of the brain lesion had an impact on the diagnostic yield of needle biopsy. None of the other factors significantly influenced the diagnostic rate.

Frameless stereotactic cerebral biopsy: our experience in 296 cases

AIMS

To evaluate the reliability, safety and accuracy of a the frameless stereotactic system in our clinical series and the differences between head fixation by means of a standard Mayfield head holder and the pinless FESS frame, and to evaluate the usefulness of biopsy targeting on the basis of magnetic resonance spectroscopy (MRS) data.

METHODS

The spectroscopic analysis was used to facilitate the targeting of the lesion. The fusion image function embedded in the Neuronavigation Unit was used postoperatively to assess the level of accuracy of the biopsy. The grading of the glioma specimens was correlated to the spectroscopic data.

RESULTS

296 patients underwent cerebral biopsy in 8 years. The diagnostic yield was 99.7%. The spectroscopic choline/N-acetyl aspartate ratio in different areas of the same tumor correlated well with the histological grading of the lesion.

CONCLUSION

The frameless stereotactic systems guarantee excellent biopsy results. Advanced imaging, in particular MRS, facilitates the correct targeting of nonenhancing lesions.

Diffusion-weighted imaging in head and neck cancers

This article reviews the utility of diffusion-weighted imaging (DWI) in the diagnosis, prognosis and monitoring of treatment response in tumors arising in the head and neck region. The apparent diffusion coefficient (ADC) value, determined from DWI, can help in cancer staging and detection of subcentimeter nodal metastasis. The ADC value also discriminates carcinomas from lymphomas, benign lesions from malignant tumors and tumor necrosis from abscesses. Low pretreatment ADC values typically predict a favorable response to chemoradiation therapy. These promising reports indicate the potential of DWI as a potential biomarker for diagnosis and monitoring of treatment response in head and neck cancers. In view of the overlapping ADC values between different salivary gland tumors, care should be taken when interpreting these results and other imaging parameters should be considered for a better diagnosis. Susceptibility and motion-induced artifacts may sometimes degrade DWI image quality; however, novel techniques are being developed to overcome these drawbacks.

Computer assistance for intraoperative navigation in ENT surgery

The intraoperative need for exact orientation during interventions in the paranasal sinuses and the augmented need for navigational aids in lateral skull base surgery have lead to the development of computer-aided tools during the last fifteen years. These tools, which provide the position of a tool or a pointer in the patient's preoperative radiologic imaging, have quickly gained a wide acceptance for revision surgeries and the surgical treatment of complex pathologies in Ear-, Nose- and Throat (ENT-) surgery. Currently, the use of such systems is spreading from academic centers to smaller hospitals and will become a standard tool in the near future. We review the present state of computer-aided surgery (CAS) systems, based on our experience as clinical and research centers with a long experience in the field, provide some technological background information and, based on selected cases, show the merits of this technology. The systems we have been working with cover a wide variety of intraoperative navigational systems in ENT surgery (Easy Guide, MedScan II, MKM, SNN, STN, SurgiGATE ORL, Treon, VectorVision, Viewing Wand, [without claiming completeness]), and virtually the whole area of ENT surgeries: macroscopic, (video-)endoscopic and microscopic procedures. The 3D tracking technologies involved cover mechanical, optical (active and passive), magnetic and robotic principles. The visualization tools used are computer monitors, video monitors, head-up-displays and the microscope's oculars, thus spanning the area from pointer-systems to real navigators and a surgical telepresence demonstrator, implementing the majority of available patient-to-image referencing strategies. Clinically, the systems can be operated with an acceptable accuracy of around 1 mm, whereas in laboratory settings and in cadaver studies application accuracy may be pushed to its limits: the physical resolution of the radiologic imaging used for navigation.

Navigated CT‐guided interventions

Diagnostic and therapeutic CT- guided percutaneous interventions are clinical routine in interventional radiology. Image-guided navigation systems visualize the internal anatomy during interventions in real time not necessitating continuous image acquisition. Although multiple 3D image-guidance devices have been developed and used by several surgical disciplines in the last few years, they have not yet been fully applied by the interventional radiologist. The aim of this article is to review the currently performed methods of CT-guided percutaneous interventions and to discuss the potential benefits of newly developed 3D- navigation systems.

VARIOGUIDE: A NEW FRAMELESS IMAGE‐GUIDED STEREOTACTIC SYSTEM—ACCURACY STUDY AND CLINICAL ASSESSMENT

OBJECTIVE

VarioGuide (BrainLAB AG, Feldkirchen, Germany) is a new system for frameless image-guided stereotaxy. In the present study, we aimed to assess target point accuracy in a laboratory setting and the clinical feasibility of the system.

METHODS

Using the phantom of our frame-based stereotactic system (Riechert-Mundinger; Inomed Medizintechnik GmbH, Teningen, Germany), target points were approached from different angles with the frameless system. Target point deviation in the x, y, and z planes was assessed. Furthermore, patients harboring intracranial lesions were diagnostically biopsied using VarioGuide.

RESULTS

Phantom-based accuracy measurements yielded a mean target point deviation of 0.7 mm. Between February 2007 and April 2008, 27 patients were diagnostically biopsied. Lesion volumes ranged from 0.2 to 117.6 cm3, trajectory length ranged from 25.3 to 64.1 mm, and the diagnostic yield was 93%.

CONCLUSION

Concluding from the phantom measurements with ideal image-object registration, assumed spherical lesions with a volume of 0.524 cm3 can be biopsied with 100% target localization. Early clinical data revealed VarioGuide to be safe and accurate for lesions of 0.2 cm3 and larger. Thereby, the system seems feasible for the biopsy of most intracranial lesions.

Neuroendoscopic Management of Symptomatic Septum Pellucidum Cysts

OBJECTIVE:

Ten rare cases of symptomatic septum pellucidum cysts in patients who underwent endoscopic fenestration are described. The approaches and techniques used in the management of these cysts and the endoscopic surgical indications are discussed.

CLINICAL PRESENTATION:

In the past 5 years, 10 patients (age range, 3–60 yr) with symptomatic septum pellucidum cysts underwent neuroendoscopic fenestration. The most common symptom was intermittent headache (seven patients) accompanied by dizziness, vomiting, and epileptic seizures. Two patients presented with epileptic seizures. One patient presented with abnormally increased head circumference. Magnetic resonance imaging scans of 10 patients showed septum pellucidum cysts, two with hydrocephalus, and two with pituitary microadenoma.

INTERVENTION:

All 10 patients underwent endoscopic fenestration with a rigid endoscope via a frontal approach. Eight cases were performed freehand. Two cases were assisted by a frameless neuronavigation system. Postoperatively, the mass effect of the cysts and the symptoms resolved immediately, and computed tomographic or magnetic resonance imaging scans showed significant decrease in the cyst size and no recurrence during follow-up. Ventricular sizes in the two patients with hydrocephalus were normal.

CONCLUSION:

Neuroendoscopic pellucidotomy could be an effective, safe, and convenient therapeutic method for symptomatic septum pellucidum cysts. This approach might provide communication between the cyst and the ventricular system, thus avoiding shunting or craniotomy. We consider that it is appropriate to use the rigid endoscope via the frontal approach. It is helpful to fill the ventricles with lactated Ringer's solution and leave an external drain after surgery.

Comparison of magnetic tracking and optical tracking by simultaneous use of two independent frameless stereotactic systems

OBJECTIVE

The goal of this study was to compare the calculated accuracy and the true surgical accuracy of a magnetic and an optical tracking system at surgical registration and during surgery.

METHODS

Two Food and Drug Administration-approved, commercially available frameless stereotactic systems were used simultaneously in 70 surgical cases. The Compass Cygnus-PFS system (Compass International, Rochester MN) uses magnetic field referencing and tracking. The StealthStation (Medtronic SNT, Louisville, CO) uses optical referencing and tracking. Registration was performed for each of the systems using adhesive fiducial markers, cranial-implanted markers, anatomic landmarks, or a combination thereof. Preoperative imaging consisted of volumetric computed tomography, magnetic resonance imaging, or both. Calculated accuracy was given by each of the systems as the root mean square after registration. Surgical accuracy was assessed by comparing the anatomic accuracy of each system with a number of recognizable intraoperative anatomic landmarks.

RESULTS

Calculated accuracy (root mean square) was 1.4 +/- 0.6 mm using the magnetic system and 1.4 +/- 0.8 mm using the optical tracking system. In the 42 patients with implanted cranial fiducials, the calculated accuracies were 1.0 +/- 0.5 mm (magnetic) and 0.9 +/- 0.4 mm (optical). True surgical accuracy was considered good (3 mm or less) in both systems in 60 of 70 patients. In two patients, neither system was accurate. In eight patients, one of the two systems was considered inaccurate. Of these, the magnetic system was considered inaccurate three times and the optical system five times.

CONCLUSION

Magnetic referencing and tracking was found to be comparable with optical tracking both with regard to calculated and true surgical accuracy. Interference from metal objects in the magnetic field was seen rarely.

Image-guided frameless stereotactic biopsy sampling of parasellar lesions. Technical note

Interactive image-guided neuronavigation was used to obtain biopsy specimens of cavernous sinus (CS) tumors via the foramen ovale. In this study the authors demonstrated a minimally invasive approach in the management of these lesions. In four patients, whose ages ranged from 29 to 89 years (mean 61.2 years) and who harbored undefined lesions invading the CS, neuronavigation was used to perform frameless stereotactic fine-needle biopsy sampling through the foramen ovale. The biopsy site was confirmed on postoperative computerized tomography scanning. The frameless technique was accurate in displaying a real-time trajectory of the biopsy needle throughout the procedure. The lesions within the CS were approached precisely and safely. Diagnostic tissue was obtained in all cases and treatment was administered with the aid of stereotactic radiosurgery or fractionated stereotactic radiotherapy. The patients were discharged after an overnight stay with no complications. Neuronavigation is a precise and useful tool for image-guided biopsy sampling of CS tumors via the foramen ovale.