Automated intraoperative calibration for prostate cancer brachytherapy

Alignment of sources and detectors on breast surface for noncontact diffuse correlation tomography of breast tumors

Noncontact diffuse correlation tomography (ncDCT) is an emerging technology for 3D imaging of deep tissue blood flow distribution without distorting hemodynamic properties. To adapt the ncDCT for imaging in vivo breast tumors, we designed a motorized ncDCT probe to scan over the breast surface. A computer-aided design (CAD)-based approach was proposed to create solid volume mesh from arbitrary breast surface obtained by a commercial 3D camera. The sources and detectors of ncDCT were aligned on the breast surface through ray tracing to mimic the ncDCT scanning with CAD software. The generated breast volume mesh along with the boundary data of ncDCT at the aligned source and detector pairs were used for finite-element-method-based flow image reconstruction. We evaluated the accuracy of source alignments on mannequin and human breasts; largest alignment errors were less than 10% in both tangential and radial directions of scanning. The impact of alignment errors (assigned 10%) on the tumor reconstruction was estimated using computer simulations. The deviations of simulated tumor location and blood flow contrast resulted from the alignment errors were 0.77 mm (less than the node distance of 1 mm) and 1%, respectively, which result in minor impact on flow image reconstruction. Finally, a case study on a human breast tumor was conducted and a tumor-to-normal flow contrast was reconstructed, demonstrating the feasibility of ncDCT in clinical application.

Electromagnetic tracking for catheter reconstruction in ultrasound-guided high-dose-rate brachytherapy of the prostate

PURPOSE

The accurate delivery of high-dose-rate brachytherapy is dependent on the correct identification of the position and shape of the treatment catheters. In many brachytherapy clinics, transrectal ultrasound (TRUS) imaging is used to identify the catheters. However, manual catheter identification on TRUS images can be time consuming, subjective, and operator dependent because of calcifications and distal shadowing artifacts. We report the use of electromagnetic (EM) tracking technology to map the position and shape of catheters inserted in a tissue-mimicking phantom.

METHODS AND MATERIALS

The accuracy of the EM system was comprehensively quantified using a three-axis robotic system. In addition, EM tracks acquired from catheters in a phantom were compared with catheter positions determined from TRUS and CT images to compare EM system performance to standard clinical imaging modalities. The tracking experiments were performed in a controlled laboratory environment and also in a typical brachytherapy operating room to test for potential EM distortions.

RESULTS

The robotic validation of the EM system yielded a mean accuracy of <0.5 mm for a clinically acceptable field of view in a nondistorting environment. The EM-tracked catheter representations were found to have an accuracy of <1 mm when compared with TRUS- and CT-identified positions, both in the laboratory environment and in the brachytherapy operating room. The achievable accuracy depends to a large extent on the calibration of the TRUS probe, geometry of the tracked devices relative to the EM field generator, and locations of surrounding clinical equipment. To address the issue of variable accuracy, a robust calibration algorithm has been developed and integrated into the workflow. The proposed mapping technique was also found to improve the workflow efficiency of catheter identification.

CONCLUSIONS

The high baseline accuracy of the EM system, the consistent agreement between EM-tracked, TRUS- and CT-identified catheters, and the improved workflow efficiency illustrate the potential value of using EM tracking for catheter mapping in high-dose-rate brachytherapy.

Stereoscopic augmented reality for laparoscopic surgery

BACKGROUND

Conventional laparoscopes provide a flat representation of the three-dimensional (3D) operating field and are incapable of visualizing internal structures located beneath visible organ surfaces. Computed tomography (CT) and magnetic resonance (MR) images are difficult to fuse in real time with laparoscopic views due to the deformable nature of soft-tissue organs. Utilizing emerging camera technology, we have developed a real-time stereoscopic augmented-reality (AR) system for laparoscopic surgery by merging live laparoscopic ultrasound (LUS) with stereoscopic video. The system creates two new visual cues: (1) perception of true depth with improved understanding of 3D spatial relationships among anatomical structures, and (2) visualization of critical internal structures along with a more comprehensive visualization of the operating field.

METHODS

The stereoscopic AR system has been designed for near-term clinical translation with seamless integration into the existing surgical workflow. It is composed of a stereoscopic vision system, a LUS system, and an optical tracker. Specialized software processes streams of imaging data from the tracked devices and registers those in real time. The resulting two ultrasound-augmented video streams (one for the left and one for the right eye) give a live stereoscopic AR view of the operating field. The team conducted a series of stereoscopic AR interrogations of the liver, gallbladder, biliary tree, and kidneys in two swine.

RESULTS

The preclinical studies demonstrated the feasibility of the stereoscopic AR system during in vivo procedures. Major internal structures could be easily identified. The system exhibited unobservable latency with acceptable image-to-video registration accuracy.

CONCLUSIONS

We presented the first in vivo use of a complete system with stereoscopic AR visualization capability. This new capability introduces new visual cues and enhances visualization of the surgical anatomy. The system shows promise to improve the precision and expand the capacity of minimally invasive laparoscopic surgeries.