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Title: Oblique needle segmentation and tracking for 3D TRUS guided prostate brachytherapy

Abstract

An algorithm was developed in order to segment and track brachytherapy needles inserted along oblique trajectories. Three-dimensional (3D) transrectal ultrasound (TRUS) images of the rigid rod simulating the needle inserted into the tissue-mimicking agar and chicken breast phantoms were obtained to test the accuracy of the algorithm under ideal conditions. Because the robot possesses high positioning and angulation accuracies, we used the robot as a ''gold standard,'' and compared the results of algorithm segmentation to the values measured by the robot. Our testing results showed that the accuracy of the needle segmentation algorithm depends on the needle insertion distance into the 3D TRUS image and the angulations with respect to the TRUS transducer, e.g., at a 10 deg. insertion anglulation in agar phantoms, the error of the algorithm in determining the needle tip position was less than 1 mm when the insertion distance was greater than 15 mm. Near real-time needle tracking was achieved by scanning a small volume containing the needle. Our tests also showed that, the segmentation time was less than 60 ms, and the scanning time was less than 1.2 s, when the insertion distance into the 3D TRUS image was less than 55 mm. In ourmore » needle tracking tests in chicken breast phantoms, the errors in determining the needle orientation were less than 2 deg. in robot yaw and 0.7 deg. in robot pitch orientations, for up to 20 deg. needle insertion angles with the TRUS transducer in the horizontal plane when the needle insertion distance was greater than 15 mm.« less

Authors:
; ; ;  [1]
  1. Imaging Research Laboratories, Robarts Research Institute, London, Ontario N6A 5K8 (Canada) and Biomedical Engineering Program, University of Western Ontario, London, Ontario N6A 5B9 (Canada)
Publication Date:
OSTI Identifier:
20726242
Resource Type:
Journal Article
Journal Name:
Medical Physics
Additional Journal Information:
Journal Volume: 32; Journal Issue: 9; Other Information: DOI: 10.1118/1.2011108; (c) 2005 American Association of Physicists in Medicine; Country of input: International Atomic Energy Agency (IAEA); Journal ID: ISSN 0094-2405
Country of Publication:
United States
Language:
English
Subject:
62 RADIOLOGY AND NUCLEAR MEDICINE; ACCURACY; AGAR; ALGORITHMS; BRACHYTHERAPY; CARCINOMAS; CHICKENS; ERRORS; IMAGE PROCESSING; IMAGES; MAMMARY GLANDS; PHANTOMS; PROSTATE; TRANSDUCERS; ULTRASONOGRAPHY

Citation Formats

Zhouping, Wei, Gardi, Lori, Downey, Donal B, Fenster, Aaron, Imaging Research Laboratories, Robarts Research Institute, London, Ontario N6A 5K8, Imaging Research Laboratories, Robarts Research Institute, London, Ontario N6A 5K8, Imaging Research Laboratories, Robarts Research Institute, London, Ontario N6A 5K8, and Biomedical Engineering Program, University of Western Ontario, London, Ontario N6A 5B9. Oblique needle segmentation and tracking for 3D TRUS guided prostate brachytherapy. United States: N. p., 2005. Web. doi:10.1118/1.2011108.
Zhouping, Wei, Gardi, Lori, Downey, Donal B, Fenster, Aaron, Imaging Research Laboratories, Robarts Research Institute, London, Ontario N6A 5K8, Imaging Research Laboratories, Robarts Research Institute, London, Ontario N6A 5K8, Imaging Research Laboratories, Robarts Research Institute, London, Ontario N6A 5K8, & Biomedical Engineering Program, University of Western Ontario, London, Ontario N6A 5B9. Oblique needle segmentation and tracking for 3D TRUS guided prostate brachytherapy. United States. https://doi.org/10.1118/1.2011108
Zhouping, Wei, Gardi, Lori, Downey, Donal B, Fenster, Aaron, Imaging Research Laboratories, Robarts Research Institute, London, Ontario N6A 5K8, Imaging Research Laboratories, Robarts Research Institute, London, Ontario N6A 5K8, Imaging Research Laboratories, Robarts Research Institute, London, Ontario N6A 5K8, and Biomedical Engineering Program, University of Western Ontario, London, Ontario N6A 5B9. 2005. "Oblique needle segmentation and tracking for 3D TRUS guided prostate brachytherapy". United States. https://doi.org/10.1118/1.2011108.
@article{osti_20726242,
title = {Oblique needle segmentation and tracking for 3D TRUS guided prostate brachytherapy},
author = {Zhouping, Wei and Gardi, Lori and Downey, Donal B and Fenster, Aaron and Imaging Research Laboratories, Robarts Research Institute, London, Ontario N6A 5K8 and Imaging Research Laboratories, Robarts Research Institute, London, Ontario N6A 5K8 and Imaging Research Laboratories, Robarts Research Institute, London, Ontario N6A 5K8 and Biomedical Engineering Program, University of Western Ontario, London, Ontario N6A 5B9},
abstractNote = {An algorithm was developed in order to segment and track brachytherapy needles inserted along oblique trajectories. Three-dimensional (3D) transrectal ultrasound (TRUS) images of the rigid rod simulating the needle inserted into the tissue-mimicking agar and chicken breast phantoms were obtained to test the accuracy of the algorithm under ideal conditions. Because the robot possesses high positioning and angulation accuracies, we used the robot as a ''gold standard,'' and compared the results of algorithm segmentation to the values measured by the robot. Our testing results showed that the accuracy of the needle segmentation algorithm depends on the needle insertion distance into the 3D TRUS image and the angulations with respect to the TRUS transducer, e.g., at a 10 deg. insertion anglulation in agar phantoms, the error of the algorithm in determining the needle tip position was less than 1 mm when the insertion distance was greater than 15 mm. Near real-time needle tracking was achieved by scanning a small volume containing the needle. Our tests also showed that, the segmentation time was less than 60 ms, and the scanning time was less than 1.2 s, when the insertion distance into the 3D TRUS image was less than 55 mm. In our needle tracking tests in chicken breast phantoms, the errors in determining the needle orientation were less than 2 deg. in robot yaw and 0.7 deg. in robot pitch orientations, for up to 20 deg. needle insertion angles with the TRUS transducer in the horizontal plane when the needle insertion distance was greater than 15 mm.},
doi = {10.1118/1.2011108},
url = {https://www.osti.gov/biblio/20726242}, journal = {Medical Physics},
issn = {0094-2405},
number = 9,
volume = 32,
place = {United States},
year = {Thu Sep 15 00:00:00 EDT 2005},
month = {Thu Sep 15 00:00:00 EDT 2005}
}