3D-Navigation in der interstitiellen stereotaktischen Brachytherapie

Aim

The aim of this paper is to describe the adaption of 3D-navigation for interstitial brachytherapy. The new method leads to prospective and therefore improved planning of the therapy (position of the needle and dose distribution) and to the possibility of a virtual simulation (control if vessels or nerves are on the pathway of the needle).

Material and Methods

The EasyGuide Neuro^® navigation system (Philips) was adapted in the way, that needles for interstitial brachytherapy were made connectable to the pointer and correctly displayed on the screen. To determine the positioning accuracy, several attempts were performed to hit defined targets onphantoms. Two methods were used: “free navigation”, where the needle was under control of the navigation system, and the “guided navigation” where an algined template was used additonally to lead the needle to the target. In addition a mask system was tested, whether it met the requirements of stable and reproducible positioning. The potenitial of applying this method in clinical practice was tested with an anatomical specimen.

Results

About 91% of all attempts lied within 5 mm. There were even better results on the more rigid table (94% <4 mm). No difference could be seen between both application methods (“free navigation” and “navigation with template”), they showed the same accuracy.

Conclusions

The accuracy of the phantom experiments and the confirmation by the experiment with the anatomical specimen showed that excellent results can be expected in clinical practice using rigid tables and patient supporting systems.     

Reproducibility of Patient Positioning for Fractionated Extracranial Stereotactic Radiotherapy Using a Double-Vacuum Technique

BACKGROUND AND PURPOSE: Precise reproducible patient positioning is a prerequisite for conformal fractionated radiotherapy. A fixation system based on double-vacuum technology is presented which can be used for conventional as well as hypofractionated stereotactic extracranial radiotherapy. MATERIAL AND METHODS: To form the actual vacuum mattress, the patient is pressed into the mattress with a vacuum foil which can also be used for daily repositioning and fixation. A stereotactic frame can be positioned over the region of interest on an indexed base plate. Repositioning accuracy was determined by comparing daily, pretreatment, orthogonal portal images to the respective digitally reconstructed radiographs (DRRs) in ten patients with abdominal and pelvic lesions receiving extracranial fractionated (stereotactic) radiotherapy. The three-dimensional (3-D) vectors and 95% confidence intervals (CI) were calculated from the respective deviations in the three axes. Time required for initial mold production and daily repositioning was also determined. RESULTS: The mean 3-D repositioning error (187 fractions) was 2.5 +/- 1.1 mm. The largest single deviation (10 mm) was observed in a patient treated in prone position. Mold production took an average of 15 min (10-30 min). Repositioning times are not necessarily longer than using no positioning aid at all. CONCLUSION: The presented fixation system allows reliable, flexible and efficient patient positioning for extracranial stereotactic radiotherapy.     

Evaluation of the accuracy of computer-assisted techniques in the interstitial brachytherapy of the deep regions of the head and neck

PurposeWe sought to investigate the feasibility and accuracy of computer-assisted techniques in the interstitial brachytherapy of the deep regions of the head and neck.Materials and MethodsA computer-assisted brachytherapy workflow was applied to 10 patients with tumors in the deep regions of the head and neck. Based on the brachytherapy treatment preplan, we constructed a digital stereotactic model to accurately transfer the virtual plan into the navigation system, and subsequently printed the individual templates. The navigation system and the individual template were combined together to visualize and guide brachytherapy needle implantation. Preoperative and intraoperative image data were reconstructed and registered to measure and analyze the needle deviation.ResultsA total of 58 needles were successfully inserted in 10 patients with the guidance of computer-assisted techniques and a mean deviation of 5.2 mm. The inserting trajectories and depths of the needles were as follows: from the parotid and masseter regions to the infratemporal fossa or skull base, the range was 15.7–74.6 mm; from the submandibular and retromandibular regions to the infratemporal fossa or skull base, the range was 15.6–70.6 mm; from the infraorbital region to the pterygomandibular region, the range was 63.7–69.7 mm; and from the periorbital region to the intraorbital region, the range was 47.6–61.8 mm. The dose distribution met the treatment requirement well.ConclusionsThe computer-assisted interstitial brachytherapy workflow was proven to be feasible and accurate for the deep regions of the head and neck.     

Erste Erfahrungen mit einem nichtinvasiven Patientenfixieungssystem für die stereotaktische Strahlentherapie der Prostata

PURPOSE: Highly conformal radiotherapy techniques require precise patient positioning. We report our first experience with a new cast system for fixation of the pelvis during stereotactically guided intensity modulated radiotherapy (IMRT) of the prostate with respect to positioning accuracy of the prostate. MATERIAL AND METHODS: The immobilization device consists of a custom-made wrap-around body cast that extends from the abdomen to the thighs and a separate head mask, both made from Scotchcast, and attaches to a frame for extracranial stereotaxy. Sixteen CT-studies (> or = 25 slices, thickness: 3 mm) of 2 patients who were immobilized for IMRT of prostate tumors were evaluated with respect to set-up accuracy of bony structures and the prostate itself. CT-studies were performed immediately before or after a treatment fraction. Deviations of bony landmarks and anatomical landmarks inside the planning target volume were measured in all 3 dimensions. RESULTS: Mean patient movements of 0.15 +/- 0.3 mm (latero-lateral), 0.9 +/- 1 mm (anterior-posterior), 1 +/- 1 mm (tranversal vectorial error) and < 3 mm slice thickness (craniocaudal) were recorded using bony landmarks and 0.9 +/- 0.9 mm (latero-lateral), 1.8 +/- 1.5 mm (anterior-posterior), 2.2 +/- 1.5 mm (transversal vectorial error) and < 3 mm (craniocaudal) using the confines of, or landmarks within the prostate. Standard deviations of absolute positioning error as an often used metric for positioning accuracy ranged between 0.3 and 1.7 mm in the transversal plane. The worst case transversal vectorial deviation for the prostate was 4.4 mm. Figure 4 summarizes the set-up accuracy of bony landmarks and the prostate. CONCLUSION: The presented combination of a body cast and head mask system in a rigid stereotactic body frame ensures reliable noninvasive patient fixation for fractionated extracranial stereotactic radiotherapy. It provides precise and reliable positioning of the prostate and meets the requirements for highly conformal radiotherapy such as IMRT. No further improvement of repositioning can be achieved with external immobilization devices since the positioning error of the target relative to the skeleton exceeds the accuracy of the positioning of the skeleton itself.     

Erste Erfahrungen mit computerunterstützter stereotaktischer interstitieller Brachytherapie

Purpose

To reach an optimal treatment result and to avoid damage to critical structures a homogenous dose distribution in the tumor volume with a rapid decreasing dose to the surrounding structures is necessary. Fractionated interstitial brachytherapy of tumors in the ENT region employing needles depends on exact localization of the target volume during all fractions. Therefore reproducibility of positioning of the needle(s) plays an important role.

Material and Methods

We used the ISG Viewing Wand system in combination with the Vogele-Bale-Hohner (VBH) head holder and a new targeting device. Point of entrance, pathway, and target point of the needle were planned and insertion of the needle simulated in advance. To date we have treated 7 patients with inoperable tumors in the ENT region. The actual position of the needle in the control CT was compared to the planned position.

Results

The accuracy of positioning of the needle depended on the location of the tumor. In a patient with a recurrent retroorbital adenocarcinoma the mean accuracy was 1 mm. Due to soft tissue displacement in the neck region and the resulting necessity to readjust the targeting device the needle was placed with a mean deviation of 15 mm between the planned and the actual position.

Conclusions

Computer-assisted frameless stereotactic interstitial brachytherapy allows for precise, reproducible and preplanned insertion of hollow needles into target structures closely adherent to the surrounding tissue, thus avoiding damage of neighbouring structures. This technique is of great advantage in treating deeply seated tumors which are fixed to bony structures, especially at the skull base. Inaccuracy in the neck region caused by soft tissue shift requires improvement of the immobilization in this region.     

Head and neck tumors: fractionated frameless stereotactic interstitial brachytherapy-initial experience

The authors used a frameless stereotactic navigation system, the Vogele-Bale-Hohner head holder, and a targeting device to reproducibly position brachytherapy needles for fractionated interstitial brachytherapy in 12 patients with inoperable cancers of the head and neck. In all cases, deviations of the needle relative to the planned position were within 1-15 mm depending on the location of the tumor.     

Feasibility report for retreatment of locally recurrent head-and-neck cancers by combined brachy-chemotherapy using frameless image-guided 3D interstitial brachytherapy

PURPOSE: Brachytherapy re-irradiation may offer an alternative re-treatment of recurrent head-and-neck cancer even after previous full dose radiation therapy. The purposes of this study were to determine the feasibility and accuracy of frameless image-guided interstitial needle implantation. METHODS AND MATERIALS: Between January 2000 and March 2003, 14 patients with biopsy-proven locally recurrent head-and-neck-cancer were retreated after previous full dose irradiation with combined external beam-brachytherapy with concomitant chemotherapy. Brachytherapy needle implantation was virtually planned taking into account the surrounding risk structures. Needles were implanted using an adapted frameless navigation system. Chemoradiotherapy was followed by 2-4 courses of chemotherapy every fourth week starting 4 weeks after the end of brachytherapy. RESULTS: The 1- and 2-year local control rates were 78% and 57%, respectively. Local control was obtained in 8/14 patients. The actuarial 1- and 2-year survival rates were 83% and 64%, respectively. The median survival was 28 months after a median follow-up of 21 months (range, 8-53). Six weeks after brachytherapy, 1 patient developed localized soft tissue necrosis which did not require surgical intervention. No additional grade III or IV late toxicity was seen after re-irradiation. Mean deviation of image-guided needle implantation was 3.4 mm for each needle (SD, 1.9 mm; range, 0.5-14 mm). The mean deviation of all needles of an implant was 4.3 mm (range, 2.3-8.6 mm). CONCLUSIONS: These data demonstrate that pulsed-dose-rate brachytherapy in combination with sequential chemotherapy is effective and safe in re-irradiation of locally recurrent oropharyngeal carcinomas and can be offered to patients with curative intent. Image guidance allows virtual planning and navigated implantation of brachytherapy needles with regard to optimized needle distribution and risk structures.     

Daily CT planning during boost irradiation of prostate cancer. Feasibility and time requirements.

BACKGROUND: In the irradiation of prostate cancer internal organ movement leads to uncertainties in the daily localization of the clinical target volume. Therefore more or less large safety margins are added when designing the treatment portals. With daily CT planning internal organ movement can be compensated to some extent, safety margins can be reduced and irradiated normal tissue can be spared. The feasibility of daily CT-based 3D treatment planning is studied in a patient with localized prostate carcinoma using a new patient positioning system. METHODS: Daily CT planning was applied during boost irradiation of a patient with prostate cancer: After patient immobilization the pelvis was scanned in 3 mm CT slices. Planning was done with the BrainSCAN planning system for stereotactic body irradiation. The prostate was contoured in all slices and the safety margins of the micromultileafs were automatically set to the distance chosen by the physician (0.8 cm). Patient positioning was done with the BrainLAB ExacTrac positioning system on the basis of skin attached stereotactic body markers. Before each treatment verification images of the isocenter were taken. RESULTS: The total time requirement for planning and irradiation was about 1 hour 15 minutes. Patient positioning on the treatment couch took about 10 minutes. The accuracy of the positioning system was good (75% of the deviations were smaller than 3 mm). The shift of the single markers from CT scan to CT scan was more extensive than those of the center of all 7 markers combined (47% of the deviations were smaller than 3 mm). The location of the markers seems to influence the magnitude of their dislocation. CONCLUSION: Daily CT planning is feasible but time consuming. The new patient positioning system ExacTrac is an interesting tool especially for daily CT planning since conventional simulation can be omitted.     

A Simple and Non-Invasive Vacuum Mouthpiece-Based Head Fixation System for High Precision Radiotherapy

PURPOSE: To demonstrate why conventional non-invasive mouthpiece-based fixation has not achieved the expected accuracy and to suggest a solution of the problem. PATIENTS AND METHODS: The Vogele Bale Hohner (VBH) head holder is a non-invasive vacuum mouthpiece-based head fixation system. Feasibility and repositioning accuracy were evaluated by portal image analysis in 12 patients with cranial tumors intended for stereotactic procedures, fixated with the newest version (VBH HeadFix-ARC). RESULTS: Portal image analysis (8 patients evaluated in 2-D, 4 patients in 3-D) showed that even in routine external beam radiation therapy, treatment can be applied to within a mean 2-D and 3-D accuracy of under 2 mm (SD 0.92 mm and 1.2 mm, respectively) with cost and repositioning time per patient and patient comfort comparable to that of common thermoplastic masks. CONCLUSION: These preliminary results show that high repositioning accuracy does not rule out simple and quick application and patient comfort. Paramount, however, is tensionless repositioning via the vacuum mouthpiece.     

Displacement of breast tissue and needle deviations during stereotactic procedures.

RATIONALE AND OBJECTIVES: The aim of this study was to quantify the displacement of breast tissue and the inaccuracy of needle positioning for biopsy (14-gauge) and localization (19.5-gauge) needles. METHODS: For displacement of breast tissue, differences between the coordinates of identifiable microcalcifications in the images before (baseline) and after needle positioning were analyzed (n = 52). For accuracy of needle positioning, differences between the coordinates of the needle tip and the target were analyzed in breast tissue (n = 97) and in air (n = 246). RESULTS: Average target displacement was 2.1 mm for biopsy needles (95% prediction interval [PI] 0.6-7.8) and 1.0 mm (95% PI 0.3-3.9) for localization needles. Mean inaccuracy of needle positioning in breast tissue was 1.1 mm (95% PI 0.4-3.0) and 1.8 mm (95% PI 0.7-4.6) for biopsy and localization needles, respectively. CONCLUSIONS: Tissue and needle displacements cause a total positioning error of 2.4 mm in stereotactic core biopsy, which will limit the attainable diagnostic accuracy.     

数字化外科技术在125I粒子植入治疗头颈深部肿瘤中的应用

目的探索和评价数字化外科技术用于引导¹²⁵I粒子植入治疗头颈深部肿瘤的精确性、适形性和临床应用价值。方法回顾性选取12例行¹²⁵I放射性粒子近距离放疗的头颈深部肿瘤患者。治疗前基于CT图像设计插植针和粒子位置。根据治疗计划构建数字化定位模型将计划的插植针位置精准导入至手术导航系统,并根据患者面部外形轮廓和插植针位置方向设计打印个体化穿刺引导模板。术中在导航引导下进行模板核准就位,在导航系统的可视化针道、实时插植针位置和模板导向孔共同引导下进行插植针穿刺和放射性粒子植入。CT检查验证插植针与粒子的位置,并计算实际靶区剂量分布,观察术中及术后是否出现血肿、疼痛、感染、穿刺点不愈合、肿瘤细胞种植等不良反应。结果12例患者均在数字化外科技术引导下完成插植针穿刺和放射性粒子植入,实时可视化引导效果佳,插植针、粒子与治疗计划中的位置、数目相符,空间分布均匀。术后剂量验证D90范围为83.7~131.0 Gy,平均107.5 Gy;V100范围为89.6%~99.3%,平均94.6%;V150范围为40.2%~58.9%,平均47.8%。术中术后未出现严重不良反应。结论采用数字化外科技术,将手术导航系统与3D打印个体化穿刺引导模板结合共同引导插植针穿刺和¹²⁵I粒子植入,提高了近距离放疗的精确性和适形性,在头颈部近距离放疗特别是深部解剖结构复杂区具有临床应用价值。     

Positron emission mammography-guided breast biopsy.

Positron emission mammography (PEM) is a technique to obtain planar images of the breast for detection of potentially cancerous, radiotracer-avid tumors. To increase the diagnostic accuracy of this method, use of minimally invasive methods (e.g., core biopsy) may be desirable for obtaining tissue samples from lesions detected with PEM. The purpose of this study was to test the capabilities of a novel method for performing PEM-guided stereotactic breast biopsies. METHODS: The PEM system consisted of 2 square (10 x 10 cm) arrays of discrete scintillator crystals. The detectors were mounted on a stereotactic biopsy table. The stereotactic technique used 2 PEM images acquired at +/-15 degrees and a new trigonometric algorithm. The accuracy and precision of the guidance method was tested by placement of small point sources of (18)F at known locations within the field of view of the imager. The calculated positions of the sources were compared with the known locations. In addition, simulated stereotactic biopsies of a breast phantom consisting of a 10-mm-diameter gelatin sphere containing a concentration of (18)F-FDG consistent with that reported for breast cancer were performed. The simulated lesion was embedded in a 4-cm-thick slab of gelatin containing a commonly reported concentration of FDG, simulating a compressed breast (target-to-background ratio, approximately 8.5:1). An anthropomorphic torso phantom was used to simulate tracer uptake in the organs of a patient 1 h after a 370-MBq injection of FDG. Five trials of the biopsy procedure were performed to assess repeatability. Finally, a method for verifying needle positioning was tested. RESULTS: The positions of the point sources were successfully calculated to within 0.6 mm of their true positions with a mean error of +/-0.4 mm. The biopsy procedures, including the method for verification of needle position, were successful in all 5 trials in acquiring samples from the simulated lesions. CONCLUSION: The success of this new technique shows its potential for guiding the biopsy of breast lesions optimally detected with PEM.     

CT-image-based conformal brachytherapy of breast cancer. The significance of semi-3-D and 3-D treatment planning.

PURPOSE: To compare the conventional 2-D, the simulator-guided semi-3-D and the recently developed CT-guided 3-D brachytherapy treatment planning in the interstitial radiotherapy of breast cancer. PATIENTS AND METHODS: In 103 patients with T1-2, N0-1 breast cancer the tumor bed was clipped during breast conserving surgery. Fifty-two of them received boost brachytherapy after 46 to 50 Gy teletherapy and 51 patients were treated with brachytherapy alone via flexible implant tubes. Single, double and triple plane implant was used in 6, 89 and 8 cases, respectively. The dose of boost brachytherapy and sole brachytherapy prescribed to dose reference points was 3 times 4.75 Gy and 7 times 5.2 Gy, respectively. The positions of dose reference points varied according to the level (2-D, semi-3-D and 3-D) of treatment planning performed. The treatment planning was based on the 3-D reconstruction of the surgical clips, implant tubes and skin points. In all cases the implantations were planned with a semi-3-D technique aided by simulator. In 10 cases a recently developed CT-guided 3-D planning system was used. The semi-3-D and 3-D treatment plans were compared to hypothetical 2-D plans using dose-volume histograms and dose non-uniformity ratios. The values of mean central dose, mean skin dose, minimal clip dose, proportion of underdosaged clips and mean target surface dose were evaluated. The accuracy of tumor bed localization and the conformity of planning target volume and treated volume were also analyzed in each technique. RESULTS: With the help of conformal semi-3-D and 3-D brachytherapy planning we could define reference dose points, active source positions and dwell times individually. This technique decreased the mean skin dose with 22.2% and reduced the possibility of geographical miss. We could achieve the best conformity between the planning target volume and the treated volume with the CT-image based 3-D treatment planning, at the cost of worse dose homogeneity. The mean treated volume was reduced by 25.1% with semi-3-D planning, however, it was increased by 16.2% with 3-D planning, compared to the 2-D planning. CONCLUSION: The application of clips into the tumor bed and the conformal (semi-3-D and 3-D) planning help to avoid geographical miss. CT is suitable for 3-D brachytherapy planning. Better local control with less side effects might be achieved with these new techniques. Conformal 3-D brachytherapy calls for new treatment planning concepts, taking the irregular 3-D shape of the target volume into account. The routine clinical application of image-based 3-D brachytherapy is a real aim in the very close future.     

CT-Guided Interventions Using a Free-Hand, Optical Tracking System: Initial Clinical Experience

Purpose

The present study was designed to evaluate the geometrical accuracy and clinical applicability of a new, free-hand, CT-guided, optical navigation system.

Methods

Fifteen procedures in 14 consecutive patients were retrospectively analyzed. The navigation system was applied for interventional procedures on small target lesions, in cases with long needle paths, narrow access windows, or when an out-of-plane access was expected. Mean lesion volume was 27.9 ml, and mean distance to target measured was 107.5 mm. Eleven of 15 needle trajectories were planned as out-of-plane approaches regarding the axial CT plane.

Results

Ninety-one percent of the biopsies were diagnostic. All therapeutic interventions were technically successful. Targeting precision was high with a mean distance of the needle tip from planned target of 1.98 mm. Mean intervention time was 1:12 h. A statistically significant correlation between angular needle deviation and intervention time (p = 0.007), respiratory movement of the target (p = 0.008), and body mass index (p = 0.02) was detected. None of the evaluated parameters correlated significantly with the distance from the needle tip to the planned target.

Conclusions

The application of a navigation system for complex CT-guided procedures provided safe and effective targeting within a reasonable intervention time in our series.     

Präzision der konventionellen Simulation: Welche Genauigkeit ist im Kopf-Hals-Bereich möglich?

PURPOSE: In this prospective investigation we tested the absolute accuracy of a conventional localization of the isocenter obtained from a three-dimensional treatment plan in conformal radiotherapy of head and neck tumors. PATIENTS AND METHODS: 41 isocenters in 41 consecutive patients with histologically proven tumors of the brain or head and neck region were included into this investigation. In all cases a stereotactic mask (Stryker-Leibinger) was made for fixation and positioning of the patients. The stereotactically guided fractionated radiotherapy was carried out on the base of CT and MRI. The stereotactic coordinates were defined by an external localization system. Afterwards each patient underwent a conventional simulation using exclusively anatomical reference points. Additionally, the patients were adjusted to the linac isocenter using a stereotactic targeting device. Deviations between the simulated and the external adjusted target point coordinates were recorded in X-, Y- and Z-direction and spatial error was calculated. RESULTS: Mean deviation was 2.15, 2.54, and 2.69 mm for X-, Y-, and Z-direction, respectively. The largest deviation was found in Z-direction with a maximum of over 11 mm. The spatial deviation per patient amounted 1.3-12.2 mm with a mean of 5.1 and a median value of 4.5 mm. That means that in half of the cases a deviation of 5 up to over 12 mm occurs in conventional simulation. Only in a quarter of the sample the deviation was 4 mm or below. CONCLUSION: The planning target volume definition requires a consideration of the inaccuracy of the conventional simulation. A reduction of the safety margin in the planning target volume assumes the use of the stereotactic target positioner. This is to postulate especially for the treatment of benign lesions or lesions or lesions adjacent to critical structures.     

Verbesserte Lagerungsreproduzierbarkeit eines nichtinvasiven Hochpräzisionsmaskensystems in der stereotaktischen Radiotherapie durch eine integrierte Kieferfixierung

BACKGROUND: For high precision radiotherapy of the neurocranium a precise, reproducible positioning technique is the basic prerequisite. The aim of this study was to assess the influence of a modification of the commercially available stereotactical BrainLab-head mask system on accuracy in patient positioning during fractionated radiotherapy. MATERIAL AND METHODS: 29 patients were treated with stereotactic radiotherapy of the head. Immobilization was provided by a two layer thermoplastic mask system (BrainLab). 18 of these patients received an additional custom made fixation either of the upper jaw (OKF) or of the mandibula (UKF). The positioning accuracy was assessed by measurements of the shifting of anatomical landmarks in relation to the rigid mask system on biplanar simulator films using a digital imaging system. Before each measurement a fine adjustment of the simulator to an optical ring system was performed. The reference radiographs were done just before CT-planning. During a 2-7 weeks lasting course of radiotherapy displacement measurements in relation to the reference images for all three dimensions (z, y and x) were done once a week. In 29 patients 844 measurements were analyzed. RESULTS: An additional jaw fixation improves the reproducibility of patient positioning significantly in all three spatial dimensions. The standard deviation in lateral direction (x) was 0.6 mm with jaw fixation vs. 0.7 mm without jaw fixation (p < 0.001); in longitudinal direction (z) (measured in 0 degree radiographs) 0.5 mm vs. 1.3 mm (p < 0.001); in longitudinal direction (measured in 90 degrees radiographs) 0.5 mm vs. 1.5 mm (p < 0.001); in vertical direction (y) 0.6 mm vs. 0.9 mm (p = 0.001). No significant differences in standard deviations were found comparing OKF (n = 14) with UKF (n = 4). CONCLUSION: A significant improvement in reposition accuracy using an additional, individually formed jaw fixation can be acquired. The variability of positioning can be reduced especially in the z-direction. A further reduction of the safety margin around the target volume--especially in benign tumors--is possible by improved fixation technique.     

Stereotactic CT-guided percutaneous stabilization of posterior pelvic ring fractures: a preclinical cadaver study

PURPOSE: To determine the accuracy of frameless stereotactic computed tomographic (CT)-guided wire placement for percutaneous fixation of posterior pelvic ring fractures in human cadavers. MATERIALS AND METHODS: Four intact human cadavers were fixated in a double-vacuum immobilization system. A 2.5-mm helical CT dataset was obtained and transferred to the three-dimensional (3D) navigation system. In every specimen, two paths on each side (total number, 16) were defined on multiplanar reconstructions of the 3D CT datasets, simulating fixation of the iliosacral joint. An aiming device was adjusted according to the plan, and a 2.5-mm pin was advanced through the aiming device to the precalculated target point. To determine the accuracy of pin placement, a control CT scan was co-registered to the planning CT scan (with the planned trajectories). The distance between the planned and achieved positions of the pins (3D accuracy) was calculated in millimeters. RESULTS: The mean 3D accuracy was 1.84 mm +/- 0.9 (standard deviation) at the bone entrance point and 2.5 mm +/- 1.2 at the target, as determined with image fusion between the planning CT scan and the control CT scan with the pins in place. CONCLUSIONS: The described technique enables accurate placement of pins in the pelvis and may be useful for percutaneous orthopedic procedures.     

Electromagnetic tracking for CT-guided spine interventions: phantom, ex-vivo and in-vivo results

An electromagnetic-based tracking and navigation system was evaluated for interventional radiology. The electromagnetic tracking system (CAPPA IRAD EMT, CASinnovations, Erlangen, Germany) was used for real-time monitoring of punctures of the lumbar facet joints and intervertebral disks in a spine phantom, three pig cadavers and three anaesthesized pigs. Therefore, pre-interventional computed tomography (CT) datasets were transferred to the navigation system and puncture trajectories were planned. A coaxial needle was advanced along the trajectories while the position of the needle tip was monitored in real time. After puncture tracts were marked with pieces of wire another CT examination was performed and distances between wires and anatomical targets were measured. Performing punctures of the facet joints mean needle positioning errors were 0.4?±?0.8 mm in the spine phantom, 2.8?±?2.1 mm ex vivo and 3.0?±?2.0 mm in vivo with mean length of the puncture tract of 54.0?±?10.4 mm (phantom), 51.6?±?12.6 mm (ex vivo) and 50.9?±?17.6 mm (in vivo). At first attempt, intervertebral discs were successfully punctured in 15/15 in the phantom study, in 12/15 in the ex-vivo study and 14/15 in the in-vivo study, respectively. Immobilization of the patient and optimal positioning of the field generator are essential to achieve a high accuracy of needle placement in a clinical CT setting.     

Interventional MRI of the breast: lesion localisation and biopsy

With the growing use of breast MRI an increasing need exists for reliable MR-guided preoperative localisation or even MR-guided needle biopsy. In this article an overview is given of the different approaches and the present state of the art. With closed magnets the following approaches have been made: freehand localisation (similar to CT-guided freehand localisation), and freehand localisation combined with a frameless stereotaxic system operating with support by ultrasound. One localisation device for supine localisation and a thermoplastic mesh for breast stabilisation have been reported. Most investigators have used compression devices to immobilise the breast and prevent shift during needle insertion. Thus far, one immobilisation and aiming device has been designed for open magnets. A small number of experiences exist with interventions on open MR units using a navigation system. Wire localisations are presently a well-established procedure. Magnetic-resonance-guided needle biopsy has been accomplished in closed systems as well as by the use of breast immobilisation devices. However, problems still exist due to severe needle artefacts, tissue shift during the intervention and fast equalisation of contrast enhancement in lesions with surrounding tissue. Therefore, needle biopsy is not recommended for lesions < 10 mm. Magnetic-resonance-guided vacuum biopsy is somewhat more invasive but promises to solve most of these problems.     

Transperineal prostate intervention: robot for fully automated MR imaging--system description and proof of principle in a canine model

The study was approved by the animal care and use committee. The purpose of the study was to prospectively establish proof of principle in vivo in canines for a magnetic resonance (MR) imaging-compatible robotic system designed for image-guided prostatic needle intervention. The entire robot is built with nonmagnetic and dielectric materials and in its current configuration is designed to perform fully automated brachytherapy seed placement within a closed MR imager. With a 3.0-T imager, in four dogs the median error for MR imaging-guided needle positioning and seed positioning was 2.02 mm (range, 0.86-3.18 mm) and 2.50 mm (range, 1.45-10.54 mm), respectively. The robotic system is capable of accurate MR imaging-guided prostatic needle intervention within a standard MR imager in vivo in a canine model.