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Borot de Battisti M, Denis de Senneville B, Hautvast G, Binnekamp D, Lagendijk JJW, Maenhout M, Moerland MA. A novel adaptive needle insertion sequencing for robotic, single needle MR-guided high-dose-rate prostate brachytherapy. Phys Med Biol 2017; 62:4031-4045. [PMID: 28287399 DOI: 10.1088/1361-6560/aa664b] [Citation(s) in RCA: 5] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/12/2022]
Abstract
MR-guided high-dose-rate (HDR) brachytherapy has gained increasing interest as a treatment for patients with localized prostate cancer because of the superior value of MRI for tumor and surrounding tissues localization. To enable needle insertion into the prostate with the patient in the MR bore, a single needle MR-compatible robotic system involving needle-by-needle dose delivery has been developed at our institution. Throughout the intervention, dose delivery may be impaired by: (1) sub-optimal needle positioning caused by e.g. needle bending, (2) intra-operative internal organ motion such as prostate rotations or swelling, or intra-procedural rectum or bladder filling. This may result in failure to reach clinical constraints. To assess the first aforementioned challenge, a recent study from our research group demonstrated that the deposited dose may be greatly improved by real-time adaptive planning with feedback on the actual needle positioning. However, the needle insertion sequence is left to the doctor and therefore, this may result in sub-optimal dose delivery. In this manuscript, a new method is proposed to determine and update automatically the needle insertion sequence. This strategy is based on the determination of the most sensitive needle track. The sensitivity of a needle track is defined as its impact on the dose distribution in case of sub-optimal positioning. A stochastic criterion is thus presented to determine each needle track sensitivity based on needle insertion simulations. To assess the proposed sequencing strategy, HDR prostate brachytherapy was simulated on 11 patients with varying number of needle insertions. Sub-optimal needle positioning was simulated at each insertion (modeled by typical random angulation errors). In 91% of the scenarios, the dose distribution improved when the needle was inserted into the most compared to the least sensitive needle track. The computation time for sequencing was less than 6 s per needle track. The proposed needle insertion sequencing can therefore assist in delivering an optimal dose in HDR prostate brachytherapy.
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Affiliation(s)
- M Borot de Battisti
- Department of Radiotherapy, University Medical Center Utrecht, Heidelberglaan 100, 3584 CX Utrecht, Netherlands
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Borot de Battisti M, Denis de Senneville B, Hautvast G, Binnekamp D, Peters M, Van der Voort van Zyp J, Lagendijk J, Maenhout M, Moerland M. OC-0276: Toward adaptive MR-guided HDR prostate brachytherapy - Simulation study based on anatomy movements. Radiother Oncol 2017. [DOI: 10.1016/s0167-8140(17)30719-3] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/28/2022]
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Racine E, Hautvast G, Binnekamp D, Beaulieu L. Real-time electromagnetic seed drop detection for permanent implants brachytherapy: Technology overview and performance assessment. Med Phys 2016; 43:6217. [PMID: 27908149 DOI: 10.1118/1.4966135] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022] Open
Affiliation(s)
- E Racine
- Département de Radio-Oncologie et Centre de recherche du CHU de Québec, CHU de Québec, 11 Côte du Palais, Québec, Québec G1R 2J6, Canada and Département de Physique, de Génie Physique et d'Optique, et Centre de recherche sur le cancer, Université Laval, Québec, Québec G1V 0A6, Canada
| | - G Hautvast
- Biomedical Systems, Philips Group Innovation, High Tech Campus 34 (HTC 34), Eindhoven 5656 AE, The Netherlands
| | - D Binnekamp
- Integrated Clinical Solutions & Marketing, Philips Healthcare, Veenpluis 4-6, Best 5680 DA, The Netherlands
| | - L Beaulieu
- Département de Radio-Oncologie et Centre de recherche du CHU de Québec, CHU de Québec, 11 Côte du Palais, Québec, Québec G1R 2J6, Canada and Département de Physique, de Génie Physique et d'Optique, et Centre de recherche sur le cancer, Université Laval, Québec, Québec G1V 0A6, Canada
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Borot de Battisti M, Denis de Senneville B, Maenhout M, Lagendijk JJW, van Vulpen M, Hautvast G, Binnekamp D, Moerland MA. Fiber Bragg gratings-based sensing for real-time needle tracking during MR-guided brachytherapy. Med Phys 2016; 43:5288. [DOI: 10.1118/1.4961743] [Citation(s) in RCA: 13] [Impact Index Per Article: 1.6] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/15/2022] Open
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Borot de Battisti M, Denis de Senneville B, Maenhout M, Hautvast G, Binnekamp D, Lagendijk JJW, Van Vulpen M, Moerland MA. TU-H-CAMPUS-JeP3-05: Adaptive Determination of Needle Sequence HDR Prostate Brachytherapy with Divergent Needle-By-Needle Delivery. Med Phys 2016. [DOI: 10.1118/1.4957703] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022] Open
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Borot de Battisti M, Denis de Senneville B, Maenhout M, Hautvast G, Binnekamp D, Lagendijk JJW, Van Vulpen M, Moerland MA. WE-AB-BRA-10: Assessment of Fiber Bragg Grating (FBG)-Based Sensing for Real-Time Needle Tracking During MR-Guided Brachytherapy. Med Phys 2016. [DOI: 10.1118/1.4957739] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.1] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022] Open
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Borot de Battisti M, Denis de Senneville B, Maenhout M, Hautvast G, Binnekamp D, Lagendijk JJW, van Vulpen M, Moerland MA. Adaptive planning strategy for high dose rate prostate brachytherapy—a simulation study on needle positioning errors. Phys Med Biol 2016; 61:2177-95. [PMID: 26907732 DOI: 10.1088/0031-9155/61/5/2177] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/12/2022]
Abstract
The development of magnetic resonance (MR) guided high dose rate (HDR) brachytherapy for prostate cancer has gained increasing interest for delivering a high tumor dose safely in a single fraction. To support needle placement in the limited workspace inside the closed-bore MRI, a single-needle MR-compatible robot is currently under development at the University Medical Center Utrecht (UMCU). This robotic device taps the needle in a divergent way from a single rotation point into the prostate. With this setup, it is warranted to deliver the irradiation dose by successive insertions of the needle. Although robot-assisted needle placement is expected to be more accurate than manual template-guided insertion, needle positioning errors may occur and are likely to modify the pre-planned dose distribution.In this paper, we propose a dose plan adaptation strategy for HDR prostate brachytherapy with feedback on the needle position: a dose plan is made at the beginning of the interventional procedure and updated after each needle insertion in order to compensate for possible needle positioning errors. The introduced procedure can be used with the single needle MR-compatible robot developed at the UMCU. The proposed feedback strategy was tested by simulating complete HDR procedures with and without feedback on eight patients with different numbers of needle insertions (varying from 4 to 12). In of the cases tested, the number of clinically acceptable plans obtained at the end of the procedure was larger with feedback compared to the situation without feedback. Furthermore, the computation time of the feedback between each insertion was below 100 s which makes it eligible for intra-operative use.
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Borot de Battisti M, Maenhout M, Denis de Senneville B, Hautvast G, Binnekamp D, Lagendijk JJW, van Vulpen M, Moerland MA. An automated optimization tool for high-dose-rate (HDR) prostate brachytherapy with divergent needle pattern. Phys Med Biol 2015; 60:7567-83. [PMID: 26378657 DOI: 10.1088/0031-9155/60/19/7567] [Citation(s) in RCA: 9] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/11/2022]
Abstract
Focal high-dose-rate (HDR) for prostate cancer has gained increasing interest as an alternative to whole gland therapy as it may contribute to the reduction of treatment related toxicity. For focal treatment, optimal needle guidance and placement is warranted. This can be achieved under MR guidance. However, MR-guided needle placement is currently not possible due to space restrictions in the closed MR bore. To overcome this problem, a MR-compatible, single-divergent needle-implant robotic device is under development at the University Medical Centre, Utrecht: placed between the legs of the patient inside the MR bore, this robot will tap the needle in a divergent pattern from a single rotation point into the tissue. This rotation point is just beneath the perineal skin to have access to the focal prostate tumor lesion. Currently, there is no treatment planning system commercially available which allows optimization of the dose distribution with such needle arrangement. The aim of this work is to develop an automatic inverse dose planning optimization tool for focal HDR prostate brachytherapy with needle insertions in a divergent configuration. A complete optimizer workflow is proposed which includes the determination of (1) the position of the center of rotation, (2) the needle angulations and (3) the dwell times. Unlike most currently used optimizers, no prior selection or adjustment of input parameters such as minimum or maximum dose or weight coefficients for treatment region and organs at risk is required. To test this optimizer, a planning study was performed on ten patients (treatment volumes ranged from 8.5 cm(3)to 23.3 cm(3)) by using 2-14 needle insertions. The total computation time of the optimizer workflow was below 20 min and a clinically acceptable plan was reached on average using only four needle insertions.
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Affiliation(s)
- M Borot de Battisti
- Department of Radiotherapy, University Medical Center Utrecht, Heidelberglaan 100, 3584 CX Utrecht, The Netherlands
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Boutaleb S, Racine E, Fillion O, Bonillas A, Hautvast G, Binnekamp D, Beaulieu L. Performance and suitability assessment of a real-time 3D electromagnetic needle tracking system for interstitial brachytherapy. J Contemp Brachytherapy 2015; 7:280-9. [PMID: 26622231 PMCID: PMC4643737 DOI: 10.5114/jcb.2015.54062] [Citation(s) in RCA: 27] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/06/2015] [Revised: 07/22/2015] [Accepted: 08/16/2015] [Indexed: 02/01/2023] Open
Abstract
PURPOSE Accurate insertion and overall needle positioning are key requirements for effective brachytherapy treatments. This work aims at demonstrating the accuracy performance and the suitability of the Aurora(®) V1 Planar Field Generator (PFG) electromagnetic tracking system (EMTS) for real-time treatment assistance in interstitial brachytherapy procedures. MATERIAL AND METHODS The system's performance was characterized in two distinct studies. First, in an environment free of EM disturbance, the boundaries of the detection volume of the EMTS were characterized and a tracking error analysis was performed. Secondly, a distortion analysis was conducted as a means of assessing the tracking accuracy performance of the system in the presence of potential EM disturbance generated by the proximity of standard brachytherapy components. RESULTS The tracking accuracy experiments showed that positional errors were typically 2 ± 1 mm in a zone restricted to the first 30 cm of the detection volume. However, at the edges of the detection volume, sensor position errors of up to 16 mm were recorded. On the other hand, orientation errors remained low at ± 2° for most of the measurements. The EM distortion analysis showed that the presence of typical brachytherapy components in vicinity of the EMTS had little influence on tracking accuracy. Position errors of less than 1 mm were recorded with all components except with a metallic arm support, which induced a mean absolute error of approximately 1.4 mm when located 10 cm away from the needle sensor. CONCLUSIONS The Aurora(®) V1 PFG EMTS possesses a great potential for real-time treatment assistance in general interstitial brachytherapy. In view of our experimental results, we however recommend that the needle axis remains as parallel as possible to the generator surface during treatment and that the tracking zone be restricted to the first 30 cm from the generator surface.
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Affiliation(s)
- Samir Boutaleb
- Département de Radio-Oncologie et Centre de Recherche du CHU de Québec, Québec, Canada
- Département de Physique, de Génie Physique et d'Optique et Centre de Recherche sur le Cancer, Université Laval, Québec, Canada
| | - Emmanuel Racine
- Département de Radio-Oncologie et Centre de Recherche du CHU de Québec, Québec, Canada
- Département de Physique, de Génie Physique et d'Optique et Centre de Recherche sur le Cancer, Université Laval, Québec, Canada
| | - Olivier Fillion
- Département de Radio-Oncologie et Centre de Recherche du CHU de Québec, Québec, Canada
- Département de Physique, de Génie Physique et d'Optique et Centre de Recherche sur le Cancer, Université Laval, Québec, Canada
| | - Antonio Bonillas
- Biomedical Systems, Philips Group Innovation, Eindhoven, The Netherlands
| | - Gilion Hautvast
- Biomedical Systems, Philips Group Innovation, Eindhoven, The Netherlands
| | - Dirk Binnekamp
- Integrated Clinical Solutions & Marketing, Philips Healthcare, Best, The Netherlands
| | - Luc Beaulieu
- Département de Radio-Oncologie et Centre de Recherche du CHU de Québec, Québec, Canada
- Département de Physique, de Génie Physique et d'Optique et Centre de Recherche sur le Cancer, Université Laval, Québec, Canada
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de Battisti MB, Maenhout M, de Senneville BD, Hautvast G, Binnekamp D, Lagendijk JJW, Van Vulpen M, Moerland MA. TU-AB-201-05: Automatic Adaptive Per-Operative Re-Planning for HDR Prostate Brachytherapy - a Simulation Study On Errors in Needle Positioning. Med Phys 2015. [DOI: 10.1118/1.4925543] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022] Open
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Racine E, Hautvast G, Binnekamp D, Beaulieu L. SU-F-BRA-03: Integrating Novel Electromagnetic Tracking Hollow Needle Assistance in Permanent Implant Brachytherapy Procedures. Med Phys 2015. [DOI: 10.1118/1.4925214] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022] Open
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Borot de Battisti M, Maenhout M, Denis de Senneville B, Hautvast G, Binnekamp D, Lagendijk J, Van Vulpen M, Moerland M. PD-0179: An automated optimization tool for HDR prostate brachytherapy with divergent needles. Radiother Oncol 2015. [DOI: 10.1016/s0167-8140(15)40177-x] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/01/2022]
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Poulin E, Racine E, Binnekamp D, Beaulieu L. Fast, automatic, and accurate catheter reconstruction in HDR brachytherapy using an electromagnetic 3D tracking system. Med Phys 2015; 42:1227-32. [DOI: 10.1118/1.4908011] [Citation(s) in RCA: 48] [Impact Index Per Article: 5.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022] Open
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Beaulieu L, Racine E, Boutaleb S, Filion O, Poulin E, Hautvast G, Binnekamp D. Sci-Fri PM: Topics - 08: The Role and Benefits of Electromagnetic Needle-Tracking Technologies in Brachytherapy. Med Phys 2014. [DOI: 10.1118/1.4894955] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022] Open
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Racine E, Hautvast G, Binnekamp D, Beaulieu L. WE-A-17A-09: Exploiting Electromagnetic Technologies for Real-Time Seed Drop Position Validation in Permanent Implant Brachytherapy. Med Phys 2014. [DOI: 10.1118/1.4889379] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022] Open
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Poulin E, Racine E, Binnekamp D, Beaulieu L. WE-A-17A-10: Fast, Automatic and Accurate Catheter Reconstruction in HDR Brachytherapy Using An Electromagnetic 3D Tracking System. Med Phys 2014. [DOI: 10.1118/1.4889380] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022] Open
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Racine E, Binnekamp D, Hautvast G, Beaulieu L. OC-0378: Report on real-time electromagnetic seed drop position validation for low dose rate brachytherapy. Radiother Oncol 2014. [DOI: 10.1016/s0167-8140(15)30483-7] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/25/2022]
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Cunha J, Saltiel D, Binnekamp D, Hsu I, Chang A, Pouliot J. OC-0182: Demonstration of real-time, automatic 3D seed & needle localization in brachytherapy using integrated EM tracking. Radiother Oncol 2013. [DOI: 10.1016/s0167-8140(15)32488-9] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/23/2022]
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Abstract
PURPOSE To improve the treatment technique for chest wall irradiation, using the multileaf collimator (MLC) of the MM50 Racetrack Microtron to shape both photon and electron beams, and to check the dose delivery in the match-line region of these fields for the routine and improved technique. METHODS AND MATERIALS Using diode and film phantom measurements, the optimal number of photon beam segments and their positions relative to the electron beam were determined. On phantoms, and during actual patient treatment using in vivo dosimetry, the dose homogeneity in the match-line region was determined for both the routine and improved techniques. RESULTS Three photon beam segments (9-mm gap, perfect match, and 9-mm overlap) were used to match the electron beam, resulting in minimum-maximum dose values in the match-line region of 88-109%, compared to 80-115% for the routine technique (2 photon beam segments). During patient treatment, the average minimum and maximum dose values were 95% and 115%, respectively, compared to 78% and 127%, respectively, for the routine technique. The interfraction variation in dose delivery was reduced from 11.0% (1 SD) to 4.6% (1 SD). The actual treatment time was reduced from 10 to 4.5 min. CONCLUSION Using the MLC of the MM50 to shape both photon and electron beams, an improved treatment technique for chest wall irradiation was developed, which is less labor intensive, faster, and yields a more homogeneous, and better reproducible dose delivery.
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Affiliation(s)
- M Essers
- Division of Clinical Physics, University Hospital Rotterdam-Daniel den Hoed Cancer Center, Rotterdam, The Netherlands.
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Abstract
Compensators produced with computer controlled milling devices usually consist of a styrofoam mould, filled with an appropriate material. We investigated granulate of stainless steel as filling material. This cheap, easy to use, clean and re-usable material can be obtained with an average granule diameter of 0.3 mm, enabling an accurate and reproducible filling. No wax or other sealing material is added. The density of the granulate is approximately 4.5 g/cm3, which allows an accurate production of compensators in a sufficiently wide transmission range without the compensators becoming too thick. Transmission and surface dose measurements show that the dosimetric properties of stainless steel granulate are suitable for use as compensator material.
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Affiliation(s)
- J P van Santvoort
- Dr. Daniel den Hoed Cancer Center, Department of Clinical Physics, Rotterdam, The Netherlands
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