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

Bharat, Shyam; Kung, Cynthia; Dehghan, Ehsan; Ravi, Ananth; Venugopal, Niranjan; Bonillas, Antonio; Stanton, Doug; Kruecker, Jochen

doi:10.1016/j.brachy.2014.05.012

Cited by 59 publications

(56 citation statements)

References 20 publications

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“…The authors concluded that EMT‐based implant reconstruction is faster and more accurate than the ultrasound‐based procedure. Similar conclusions have been drawn by Bharat et al.,10 who reported agreement in EMT, CT, and TRUS‐identified implant geometries, and Poulin et al.,21 who found that EMT based reconstruction of the implant is more accurate than CT.…”

Section: Introductionmentioning

confidence: 80%

“…Bharat et al. chose an approach similar to ours 10. The sensor is retracted starting from the catheter tip with acquisition times of 5 – 10 s per catheter.…”

Section: Discussionmentioning

confidence: 99%

“…Several studies in phantoms exploring the use of EMT in HDR‐iBT have focused on implant reconstruction 10, 20, 21. Zhou et al.…”

Section: Introductionmentioning

confidence: 99%

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Electromagnetic tracking (EMT) technology for improved treatment quality assurance in interstitial brachytherapy

Kellermeier

Herbolzheimer

Kreppner

et al. 2017

J Applied Clin Med Phys

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Electromagnetic Tracking (EMT) is a novel technique for error detection and quality assurance (QA) in interstitial high dose rate brachytherapy (HDR‐iBT). The purpose of this study is to provide a concept for data acquisition developed as part of a clinical evaluation study on the use of EMT during interstitial treatment of breast cancer patients. The stability, accuracy, and precision of EMT‐determined dwell positions were quantified. Dwell position reconstruction based on EMT was investigated on CT table, HDR table and PDR bed to examine the influence on precision and accuracy in a typical clinical workflow. All investigations were performed using a precise PMMA phantom. The track of catheters inserted in that phantom was measured by manually inserting a 5 degree of freedom (DoF) sensor while recording the position of three 6DoF fiducial sensors on the phantom surface to correct motion influences. From the corrected data, dwell positions were reconstructed along the catheter's track. The accuracy of the EMT‐determined dwell positions was quantified by the residual distances to reference dwell positions after using a rigid registration. Precision and accuracy were investigated for different phantom‐table and sensor‐field generator (FG) distances. The measured precision of the EMT‐determined dwell positions was ≤ 0.28 mm (95th percentile). Stability tests showed a drift of 0.03 mm in the first 20 min of use. Sudden shaking of the FG or (large) metallic objects close to the FG degrade the precision. The accuracy with respect to the reference dwell positions was on all clinical tables < 1 mm at 200 mm FG distance and 120 mm phantom‐table distance. Phantom measurements showed that EMT‐determined localization of dwell positions in HDR‐iBT is stable, precise, and sufficiently accurate for clinical assessment. The presented method may be viable for clinical applications in HDR‐iBT, like implant definition, error detection or quantification of uncertainties. Further clinical investigations are needed.

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Section: Introductionmentioning

confidence: 80%

“…Bharat et al. chose an approach similar to ours 10. The sensor is retracted starting from the catheter tip with acquisition times of 5 – 10 s per catheter.…”

Section: Discussionmentioning

confidence: 99%

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Electromagnetic tracking (EMT) technology for improved treatment quality assurance in interstitial brachytherapy

Kellermeier

Herbolzheimer

Kreppner

et al. 2017

J Applied Clin Med Phys

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“…The systems reach an accuracy of < 0.9 mm if used in environments free of disturbances such as metals that allow eddy currents disturbing the electromagnetic field. Currently, EMT is used in feasibility studies based on phantoms typically with the goal of implant definition [24, 25, 26] or quality assurance [27, 28]. Bharat et al .…”

Section: Implementation Of Electromagnetic Tracking In Brachytherapymentioning

confidence: 99%

Electromagnetic tracking for treatment verification in interstitial brachytherapy

Bert

Kellermeier

Tanderup

2016

jcb

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Electromagnetic tracking (EMT) is used in several medical fields to determine the position and orientation of dedicated sensors, e.g., attached to surgical tools. Recently, EMT has been introduced to brachytherapy for implant reconstruction and error detection. The manuscript briefly summarizes the main issues of EMT and error detection in brachytherapy. The potential and complementarity of EMT as treatment verification technology will be discussed in relation to in vivo dosimetry and imaging.

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“…Catheter path reconstruction using these standard imaging modalities has a number of limitations, including radiation exposure and catheter displacements during patient transfer from the scanner to the operating room. 1,2,3,4,5,6 Complementary electromagnetic (EM) tracking has been introduced in order to overcome these limitations.…”

Section: Introductionmentioning

confidence: 99%

Nonholonomic catheter path reconstruction using electromagnetic tracking

et al. 2015

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Purpose: Catheter path reconstruction is a necessary step in many clinical procedures, such as cardiovascular interventions and high-dose-rate brachytherapy. To overcome limitations of standard imaging modalities, electromagnetic tracking has been employed to reconstruct catheter paths. However, tracking errors pose a challenge in accurate path reconstructions. We address this challenge by means of a filtering technique incorporating the electromagnetic measurements with the nonholonomic motion constraints of the sensor inside a catheter.Methods: The nonholonomic motion model of the sensor within the catheter and the electromagnetic measurement data were integrated using an extended Kalman filter. The performance of our proposed approach was experimentally evaluated using the Ascension's 3D Guidance trakStar electromagnetic tracker. Sensor measurements were recorded during insertions of an electromagnetic sensor (model 55) along ten predefined ground truth paths. Our method was implemented in MATLAB and applied to the measurement data. Our reconstruction results were compared to raw measurements as well as filtered measurements provided by the manufacturer.Results: The mean of the root-mean-square (RMS) errors along the ten paths was 3.7 mm for the raw measurements, and 3.3 mm with manufacturer's filters. Our approach effectively reduced the mean RMS error to 2.7 mm.Conclusion: Compared to other filtering methods, our approach successfully improved the path reconstruction accuracy by exploiting the sensor's nonholonomic motion constraints in its formulation. Our approach seems promising for a variety of clinical procedures involving reconstruction of a catheter path.

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

Cited by 59 publications

References 20 publications

Electromagnetic tracking (EMT) technology for improved treatment quality assurance in interstitial brachytherapy

Electromagnetic tracking (EMT) technology for improved treatment quality assurance in interstitial brachytherapy

Electromagnetic tracking for treatment verification in interstitial brachytherapy

Nonholonomic catheter path reconstruction using electromagnetic tracking

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