WO2001082995B1 - Identification and quantification of needle displacement - Google Patents

Identification and quantification of needle displacement

Info

Publication number
WO2001082995B1
WO2001082995B1 PCT/US2001/011886 US0111886W WO0182995B1 WO 2001082995 B1 WO2001082995 B1 WO 2001082995B1 US 0111886 W US0111886 W US 0111886W WO 0182995 B1 WO0182995 B1 WO 0182995B1
Authority
WO
WIPO (PCT)
Prior art keywords
seeds
needle
ultrasound images
gray
catheter
Prior art date
Application number
PCT/US2001/011886
Other languages
French (fr)
Other versions
WO2001082995A2 (en
WO2001082995A3 (en
Inventor
Gang Cheng
Haisong Liu
Yan Yu
Original Assignee
Alpha Intervention Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Alpha Intervention Technology filed Critical Alpha Intervention Technology
Priority to AU2001251554A priority Critical patent/AU2001251554A1/en
Priority to CA002407577A priority patent/CA2407577A1/en
Priority to EP01924949A priority patent/EP1278560A2/en
Publication of WO2001082995A2 publication Critical patent/WO2001082995A2/en
Publication of WO2001082995A3 publication Critical patent/WO2001082995A3/en
Publication of WO2001082995B1 publication Critical patent/WO2001082995B1/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/103—Treatment planning systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
    • A61B8/0833—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
    • A61B8/0833—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures
    • A61B8/0841—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures for locating instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2059—Mechanical position encoders
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
    • A61N5/1007—Arrangements or means for the introduction of sources into the body
    • A61N2005/1011—Apparatus for permanent insertion of sources
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
    • A61N5/1027—Interstitial radiation therapy

Abstract

A placement plan (202) is developed for the placement of radioactive seeds in a prostrate for brachytherapy. The placement plan (202) is made available to an intraoperative tracking interface (204) which also shows a live ultrasound image (208) of the needle or catheter placement in the prostate. The difference in the x-y plane between the planned and actual locations of the needle or catheter is calculated, and from that difference, the error in position of each seed is calculated (212). The seeds are moved, or the operator changes the number of seeds (220), and the dose is recalculated. A small column of ultrasound images is taken (224), and each seed located in the column of images is given a confidence level (228). If the confidence level exceeds a threshold set by the operator (234), the dosimetry is recalculated. Periodically throughout the seed placement, fluoroscopic x-rays are taken, and the seed coordinates are matched to the x-ray image. Seed locations with low confidence levels are adjusted based on the x-ray locations, and the dosimetry is recalculated.

Claims

[received by the International Bureau on 1 March 2002 (01.03.02); original claims 1-6, 8, 9, 12. 13, 15, 16, 18, 22, 23, 26 and 27 amended; new claims 28-33 added; remaining claims unchanged (7 pages)]
1. A method for identifying and quantifying departures in placement of needles or catheters from intended placements in a treatment plan for treating a bodily organ, the needles or catheters carrying seeds for insertion into the bodily organ for use in the treatment plan, the method comprising:
(a) inserting the needles or catheters into the bodily organ, so as to deposit the seeds, and inputting actual placements into an intraoperative tracking interface;
(b) for at least one needle or catheter carrying seeds, calculating a difference between an intended placement of that needle or catheter and the actual placement of that needle or catheter;
(c) calculating, from the difference calculated in step (b), a position error for each of the seeds; and
(d) recalculating a dosimetry associated with at least one of the seeds in accordance with the position error calculated in step (c).
2. The method of claim 29, further comprising:
(h) adjusting positions of the seeds having low confidence values assigned in step (g) in accordance with x-ray imaging;
(i) recalculating a dosimetry associated with all of the seeds; and (j) assigning a confidence level to the dosimetry recalculated in step (i).
3. The method of claim 1, wherein step (b) comprises receiving, through the intraoperative tracking interface, a selection by an operator of a needle or catheter.
4. The method of claim 1 , further comprising a step of displaying, on the intraoperative tracking interface, at least one isodose plot of the bodily organ.
5. The method of claim 1, wherein said imaging in step (e) is through real-time ultrasound imaging of the bodily organ.
26
6. The method of claim 5, wherein: step (e) comprises receiving, through the intraoperative tracking interface, a selection by an operator of a needle or catheter; and the real-time ultrasound imaging in step (e) is in a direction of the needle or catheter selected by the operator.
7. The method of claim 6, wherein the real-time ultrasound imaging includes creating a column of ultrasound images along the needle or catheter selected by the operator.
8. The method of claim 7, wherein step (e) further comprises gray-scale preprocessing of the column of ultrasound images .
9. The method of claim 8, wherein the gray-scale preprocessing renormahzes a gray-scale histogram of ultrasound images to produce gray-scale corrected ultrasound images.
10. The method of claim 9, wherein the gray-scale corrected ultrasound images are used to find locations of the seeds along the needle or catheter selected by the operator.
11. The method of claim 10, wherein the locations of the seeds found in the gray-scale corrected ultrasound images are used for further correction of the positions of the seeds.
12. The method of claim 10, wherein a number of seeds whose locations arc found in the gray-scale corrected ultrasound images is compared to a number of seeds which were actually deposited by the needle or catheter selected by the operator.
13. The method of claim 12, wherein, when the numbers of seeds are not equal, at least one dimension of the column of ultrasound images is changed, the column of ultrasound images is reconstructed or reacquired, the reconstructed or
27 reacquired column of ultrasound images undergoes the gray-scale preprocessing to renormalize the gray-scale histogram of the reconstructed or reacquired column of ultrasound images to produce additional gray-scale corrected ultrasound images which are used to find the locations along the seeds along the needle or catheter selected by the operator, and a number of seeds whose locations are found in the additional gray-scale corrected ultrasound images is compared to the number of seeds which were actually deposited by the needle or catheter selected by the operator.
14. The method of claim 1, wherein the bodily organ is a prostate.
15. A system for identifying and quantifying departures in the placement of needles or catheters from intended placements in a treatment plan for treating a bodily organ, the needles or catheters carrying seeds for insertion into the bodily organ for use in the treatment plan, the system comprising: an imaging device for imaging the bodily organ; an intraoperative tracking interface comprising a display; and a computing device, in electronic communication with the imaging device and the intraoperative tracking interface, for:
(a) receiving an input of actual placements into the intraoperative tracking interface;
(b) for at least one needle or catheter, calculating a difference between an intended placement of that needle or catheter and the ac al placement of that needle or catheter;
(c) calculating, from the difference calculated in step (b), a position error for each of the seeds; and
(d) recalculating a dosimetry associated with at least one of the seeds in accordance with the position error calculated in step (c).
28
16. The system of claim 31, wherein the imaging device comprises an x-ray imaging device, and wherein the computing device further performs the following:
(h) adjusting positions of the seeds having low confidence values assigned in step (g) in accordance with x-ray imaging carried out through the x-ray imaging device;
(i) recalculating a dosimetry associated with all of the seeds; and
(j) assigning a confidence level to the dosimetry recalculated in step (i).
17. The system of claim 15, wherein the intraoperative tracking interface comprises an input device which permits the operator to select a needle or catheter for step (b).
18. The system of claim 15, wherein the computing device is programmed to control the intraoperative tracking interface to display at least one isodose plot of the bodily organ.
19. The system of claim 15, wherein: the imaging device comprises a real-time ultrasound imaging device; and the computing device performs step (e) through real-time ultrasound imaging of the bodily organ by the real-time ultrasound imaging device.
20. The system of claim 19, wherein: the intraoperative tracking interface permits an operator to select a needle or catheter; and the real-time ultrasound imaging is performed in a direction of the needle or catheter selected by the operator.
21. The system of claim 20, wherein the real-time ultrasound imaging results in a column of ultrasound images along the needle or catheter selected by the operator.
29
22. The system of claim 19, wherein the real-time ultrasound imaging creates a column of ultrasound images, and wherein the computing device is programmed to perform gray-scale preprocessing on the column of ultrasound images.
23. The system of claim 22, wherein the computing device is programmed such that the gray-scale preprocessing renormalizes a gray-scale histogram of the column of ultrasound images to produce gray-scale corrected ultrasound images.
24. The system of claim 23, wherein the gray-scale corrected ultrasound images are used to find locations of the seeds along the needle or catheter selected by the operator.
25. The system of claim 24, wherein the locations of the seeds found in the gray-scale corrected ultrasound images are used for further correction of the positions of the seeds.
26. The system of claim 23, wherein the computing device is programmed to use the gray-scale corrected ultrasound images to find locations of the seeds along the needle or catheter selected by the operator, and to compare a number of seeds whose locations are found in the gray-scale corrected ultrasound images to a number of seeds which were actually deposited by the needle or catheter selected by the operator.
27. The system of claim 26, wherein the computing device is programmed such that, when the numbers of seeds are not equal, at least one dimension of the column of ultrasound images is changed, and the column of ultrasound images is reconstructed or reacquired, the reconstructed or reacquired column of ultrasound images undergoes the gray-scale preprocessing to renormalize the gray-scale histogram of the reconstructed or reacquired column of ultrasound images to produce additional gray-scale corrected ultrasound images which are used to find the locations along the seeds along the needle or catheter selected by the operator, and a number of
30 seeds whose locations are found in the additional gray-scale corrected ultrasound images is compared to the number of seeds which were actually deposited by the needle or catheter selected by the operator.
28. The method of claim 1, further comprising: (e) depositing a number of the seeds and deteπnining positions of the deposited number of the seeds through imaging; and
(f) recalculating a dosimetry associated with at least one of the seeds deposited in step (e).
29. The method of claim 28, further comprising (g) assigning a confidence level to each of the positions determined in step (e), and wherein step (f) comprises recalculating the dosimetry associated with each of the seeds whose confidence levels exceed a predetermined threshold.
30. The system of claim 15, wherein, when a number of the seeds are deposited, the computing device also performs the following: (e) determining positions of the deposited number of the seeds through imaging; and
(f) recalculating a dosimetry associated with at least one of the seeds deposited in step (e).
31. The system of claim 30, wherein the computing device also performs (g) assigning a confidence level to each of the positions determined in step (e), and wherein step (f) performed by the computing device comprises recalculating the dosimetry associated with each of the seeds whose confidence levels exceed a predetermined threshold.
32. The method of claim 1, wherein step (b) comprises calculating the difference in an x-y plane.
31
33. The system of claim 15, wherein the computing device calculates the difference in an x-y plane.
32
PCT/US2001/011886 2000-04-28 2001-04-12 Identification and quantification of needle displacement WO2001082995A2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
AU2001251554A AU2001251554A1 (en) 2000-04-28 2001-04-12 Identification and quantification of needle displacement
CA002407577A CA2407577A1 (en) 2000-04-28 2001-04-12 Identification and quantification of needle displacement
EP01924949A EP1278560A2 (en) 2000-04-28 2001-04-12 Identification and quantification of needle displacement departures from treatment plan

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US20049300P 2000-04-28 2000-04-28
US60/200,493 2000-04-28
US09/636,551 2000-08-11
US09/636,551 US6438401B1 (en) 2000-04-28 2000-08-11 Indentification and quantification of needle displacement departures from treatment plan

Publications (3)

Publication Number Publication Date
WO2001082995A2 WO2001082995A2 (en) 2001-11-08
WO2001082995A3 WO2001082995A3 (en) 2002-04-04
WO2001082995B1 true WO2001082995B1 (en) 2002-06-27

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US (2) US6438401B1 (en)
EP (1) EP1278560A2 (en)
AU (1) AU2001251554A1 (en)
CA (1) CA2407577A1 (en)
WO (1) WO2001082995A2 (en)

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