Fiducial markers for stereotactic lung radiation therapy: review of the transthoracic, endovascular and endobronchial approaches

Stereotactic body radiation therapy is an alternative to surgery for early-stage, inoperable peripheral non-small cell lung cancer. As opposed to linear accelerator (linac)-based (e.g. gating) and free-breathing techniques, CyberKnife® with Synchrony® technology allows accurate radiation delivery by means of a real-time respiratory motion tracking system using, in most cases, metal fiducial markers (FMs) placed in the vicinity of the target. The aims of this review are as follows. First, to describe the safety and efficacy of the transthoracic, endovascular and endobronchial FM insertion techniques for peripheral pulmonary lesions (PPLs). Second, to analyse performance in terms of the migration and tracking rates of different FM types. Recent developments in FM tracking for central lesions will also be reviewed. In conclusion, for PPLs, the endobronchial approach provides a low rate of pneumothorax, offers the possibility of concurrent diagnostic sampling for both the PPL and the lymph nodes, and, finally, reduces the intervention time compared to other techniques. In this context, coil-tailed and coil-spring FMs have shown the lowest migration rate with a consequently high tracking rate.

Thermoelasticity and ArUco marker-based model validation of polymer structure: application to the San Giorgio’s bridge inspection robot

<p>Experimental procedures are often involved in the numerical models validation. To define the behaviour of a structure, its underlying dynamics and stress distributions are generally investigated. In this research, a multi-instrumental and multi-spectral method is proposed in order to validate the numerical model of the Inspection Robot mounted on the new San Giorgio's Bridge on the Polcevera river. An infrared thermoelasticity-based approach is used to measure stress-concentration factors and, additionally, an innovative methodology is implemented to define the natural frequencies of the Robot Inspection structure, based on the detection of ArUco fiducial markers. Established impact hammer procedure is also performed for the validation of the results.</p>

Residual Image Registration Error by Fiducial Markers in Accelerated Partial Breast Irradiation Using C-Arm Linac: A Phantom Study

Introduction: External beam accelerated partial breast irradiation (APBI) is an alternative treatment for patients with early-stage breast cancer. The efficacy of image-guided radiotherapy (IGRT) using fiducial markers, such as gold markers or surgical clips, has been demonstrated. However, the effects of respiratory motion during a single fraction have not been reported. This study aimed to evaluate the residual image registration error of fiducial marker-based IGRT by respiratory motion and propose a suitable treatment strategy.Materials & Methods: We developed an acrylic phantom embedded with surgical clips to verify the registration error under moving conditions. The frequency of the phase difference in the respiratory cycle due to sequential acquisition was verified in a preliminary study. Fiducial marker-based IGRT was then performed in 10 scenarios. The residual registration error (RRE) was calculated on the basis of the differences in the coordinates of clips between the true position if not moved and the last position.Results: The frequencies of the phase differences in 0.0–0.99, 1.0–1.99, 2.0–2.99, 3.0–3.99, and 4.0–5.0 mm were 23%, 24%, 22%, 20%, and 11%, respectively. When assuming a clinical case, the mean RREs for all directions were within 1.0 mm, even if respiratory motion of 5 mm existed in two axes.Conclusions: For APBI with fiducial marker-based IGRT, the introduction of an image registration strategy that employs stepwise couch correction using at least three orthogonal images should be considered.

Radiopaque drug-eluting embolisation beads as fiducial markers for stereotactic liver radiotherapy

Objective: To determine the feasibility of using radiopaque (RO) beads as direct tumour surrogates for image-guided radiotherapy (IGRT) in patients with liver tumours after transarterial chemoembolisation (TACE). Methods: A novel vandetanib-eluting RO bead was delivered via TACE as part of a first-in-human clinical trial in patients with either hepatocellular carcinoma or liver metastases from colorectal cancer. Following TACE, patients underwent simulated radiotherapy imaging with 4-dimensional computed tomography (4D-CT) and cone-beam CT (CBCT) imaging. RO beads were contoured using automated thresholding, and feasibility of matching between the simulated radiotherapy planning dataset (AVE-IP image from 4D data) and CBCT scans assessed. Additional kV, MV, helical CT and CBCT images of RO beads were obtained using an in-house phantom. Stability of RO bead position was assessed by comparing 4D-CT imaging to CT scans taken 6–20 days following TACE. Results: Eight patients were treated and 4D-CT and CBCT images acquired. RO beads were visible on 4D-CT and CBCT images in all cases and matching successfully performed. Differences in centre of mass of RO beads between CBCT and simulated radiotherapy planning scans (AVE-IP dataset) were: 2.0 mm mediolaterally, 1.7 mm anteroposteriorally, 3.5 mm craniocaudally. RO beads in the phantom were visible on all imaging modalities assessed. RO bead position remained stable up to 29 days post-TACE. Conclusion: RO beads are visible on IGRT imaging modalities, showing minimal artefact. They can be used for on-set matching with CBCT and remain stable over time. Advances in knowledge: The role of RO beads as fiducial markers for stereotactic liver radiotherapy is feasible and warrants further exploration as a combination therapy approach.

Are simple verbal instructions sufficient to ensure that bladder volume does not deteriorate prostate position reproducibility during spot scanning proton therapy?

Objectives: The purpose of this study is to investigate whether verbal instructions are sufficient for bladder volume (BV) control not to deteriorate prostate position reproducibility in image-guided spot scanning proton therapy (SSPT) for localized prostate cancer. Methods: A total of 268 treatment sessions in 12 consecutive prostate cancer patients who were treated with image-guided SSPT with fiducial markers were retrospectively analyzed. In addition to strict rectal volume control procedures, simple verbal instructions to void urine one hour before the treatment were used here. The BV was measured by a Bladder Scan just before the treatment and the prostate motion was measured by intraprostatic fiducial markers and two sets of X-ray fluoroscopy images. The correlation between the BV change and prostate motion was assessed by linear mixed-effects models and systematic and random errors according to the reproducibility of the BV. Results: The mean absolute BV change during treatment was from −98.7 to 86.3 ml (median 7.1 ml). The mean absolute prostate motion of the patients in the left-right direction was −1.46 to 1.85 mm, in the cranial-caudal direction it was −6.10 to 3.65 mm, and in the anteroposterior direction −1.90 to 5.23 mm. There was no significant relationship between the BV change and prostate motion during SSPT. The early and late genitourinary and gastrointestinal toxicity was minimal with a minimum follow-up of 4.57 years. Conclusions: Simple verbal instructions about urination was suggested to be sufficient to control the BV not to impact on the prostate motion and clinical outcomes in image-guided SSPT. Careful attention to BV change is still needed when the seminal vesicle is to be treated. Advances in knowledge: Our data demonstrated that there was no apparent relationship between BV changes and prostate position reproducibility and simple verbal instruction about urination could be sufficient for image-guided SSPT.

Crosscorrelation image processing for surface shape reconstruction using fiducial markers

Optical methods for deformations diagnostic and surface shape measurement are widely used in scientific research and industry. Most of these methods are based on triangulating a set of two-dimensional points in the images appropriate to the same three-dimensional points of the object in space. Various algorithms to search such points are applied. The possibility of using cross-correlation processing of digital images to search these points is considered in the work. Algorithms based on the correlation function calculation are widely employed in such a popular flow diagnostic method as PIV. The cameras of a stereo system for surface shape measurement can be widely spaced, and the tilt angles relative to the surface can differ significantly. This leads to the fact that the images taken from the cameras cannot be directly processed by the correlation function because it is not invariant to rotation. To solve this problem, fiducial markers are used to find an initial estimate of displacement of the images relative to each other. This approach makes it possible to successfully apply correlation processing for stereo system images with a large stereo base.

A feasibility study on the development and use of a deep learning model to automate real-time monitoring of tumor position and assessment of interfraction fiducial marker migration in prostate radiotherapy patients

Purpose The aim of this study was to assess the feasibility of the development and training of a deep learning object detection model for automating the assessment of fiducial marker migration and tracking of the prostate in radiotherapy patients. Methods and Materials A fiducial marker detection model was trained on the YOLO v2 detection framework using approximately 20,000 pelvis kV projection images with fiducial markers labelled. The ability of the trained model to detect marker positions was validated by tracking the motion of markers in a respiratory phantom and comparing detection data with the expected displacement from a reference position. Marker migration was then assessed in 14 prostate radiotherapy patients using the detector for comparison with previously conducted studies. This was done by determining variations in intermarker distance between the first and subsequent fractions in each patient. Results On completion of training, a detection model was developed that operated at a 96% detection efficacy and with a root mean square error of 0.3 pixels. By determining the displacement from a reference position in a respiratory phantom, experimentally and with the detector it was found that the detector was able to compute displacements with a mean accuracy of 97.8% when compared to the actual values. Interfraction marker migration was measured in 14 patients and the average and maximum ± standard deviation marker migration were found to be 2.0±0.9 mm and 2.3±0.9 mm, respectively. Conclusion This study demonstrates the benefits of pairing deep learning object detection, and image-guided radiotherapy and how a workflow to automate the assessment of organ motion and seed migration during prostate radiotherapy can be developed. The high detection efficacy and low error make the advantages of using a pre-trained model to automate the assessment of the target volume positional variation and the migration of fiducial markers between fractions.

Evaluation of computed tomography settings in the context of visualization and discrimination of low dose injections of a novel liquid soft tissue fiducial marker in head and neck imaging

Background Intraoperative incorporation of radiopaque fiducial markers at the tumor resection surface can provide useful assistance in identifying the tumor bed in postoperative imaging for RT planning and radiological follow-up. Besides titanium clips, iodine containing injectable liquid fiducial markers represent an option that has emerged more recently for this purpose. In this study, marking oral soft tissue resection surfaces, applying low dose injections of a novel Conformité Européenne (CE)-marked liquid fiducial marker based on sucrose acetoisobutyrate (SAIB) and iodinated SAIB (x-SAIB) was investigated. Methods Visibility and discriminability of low dose injections of SAIB/x-SAIB (10 µl, 20 µl, 30 µl) were systematically studied at different kV settings used in clinical routine in an ex-vivo porcine mandible model. Transferability of the preclinical results into the clinical setting and applicability of DE-CT were investigated in initial patients. Results Markers created by injection volumes as low as 10 µl were visible in CT imaging at all kV settings applied in clinical routine (70–120 kV). An injection volume of 30 µl allowed differentiation from an injection volume of 10 µl. In a total of 118 injections performed in two head and neck cancer patients, markers were clearly visible in 83% and 86% of injections. DE-CT allowed for differentiation between SAIB/x-SAIB markers and other hyperdense structures. Conclusions Injection of low doses of SAIB/x-SAIB was found to be a feasible approach to mark oral soft tissue resection surfaces, with injection volumes as low as 10 µl found to be visible at all kV settings applied in clinical routine. With the application of SAIB/x-SAIB reported for tumors of different organs already, mostly applying relatively large volumes for IGRT, this study adds information on the applicability of low dose injections to facilitate identification of the tumor bed in postoperative CT and on performance of the marker at different kV settings used in clinical routine.