Fiducial Markers Research Articles

Deep-Inspiration Breath-Hold Stereotactic Body Radiation Therapy by Combining Spirometer-Guided Breath-Hold and a Real-Time Tumor Tracking System: A Novel Approach

There are several methods used against respiratory motion (RM). Expiratory breath-hold (BH) is considered more stable and reproducible than inspiratory BH; therefore, BH with spirometry is often used for expiration. The real-time tumor tracking radiotherapy (RTRT) system is a highly effective method for reducing the margin of RM. This system ambushes and irradiates tumors during the expiratory phase when tumors move slowly. Although these methods usually involve expiration, it is advantageous to expand the lungs with inspiration to reduce the risk of adverse events. Here, we developed a new approach of performing stereotactic body radiation therapy (SBRT) under deep-inspiration BH (DIBH) by combining these two methods. Lung tumors with respiratory motion ≥ 1 cm were included. Three or four fiducial markers were placed near the tumor via bronchoscopy. DIBH CT (CT-IN) was performed under the guidance of spirometer. The PTV was obtained by adding a 5-mm margin to the GTV delineated on CT-IN. The prescribed dose was 42 Gy in four fractions for the D95 of the PTV. An error of 2.0 mm around the planned position of the fiducial marker on CT-IN was permitted along each orthogonal axis as a gating box. In preparation for cases in which the reproducibility of DIBH is low and treatment cannot be performed, light expiration BH CT (CT-EX) was also performed, and a radiotherapy plan was prepared for the conventional RTRT system so that it could be switched at any time. Lung volumes and doses (mean dose, V20 Gy, V10 Gy, and V5 Gy) on CT-EX and CT-IN were compared. Five patients underwent SBRT with DIBH, and all completed the planned irradiation course. The median treatment time per fraction was 27.86 min (range, 25.5-40.6). Four tumors were located in the left lower lobe and one in the right lower lobe. The median volume of PTV was 12.4 (range, 5.2-26.2) mL. The lung volumes and doses on CT-EX and CT-IN are shown in the Table. The lung volume on CT-IN was 1.6 times larger than that on CT-EX. The PTV-to-lung ratio on CT-IN was significantly lower than that on CT-EX. V20 Gy and V10 Gy on CT-IN were significantly lower than those on CT-EX. SBRT with DIBH was achieved by combining the spirometer and RTRT system. This can help to eliminate concerns about reproducibility and high-speed tumor movement during inspiration, which are weaknesses of spirometer-guided breath-hold and the RTRT system, respectively, while ensuring the accuracy of the RTRT system. DIBH SBRT is a promising method that can reduce lung dose.

The Robotic System for the Treatment of Locally Advanced Cervical Cancer with Stereotactic Body Radiotherapy Boost: Results of a Phantom-Based and Preliminary Study

To fix uterocervical position, compensate uterocervical intrafraction motion, and thus improve the accuracy of dose delivery based on the robotic system for the treatment of locally advanced cervical cancer with stereotactic body radiotherapy boost. CT images were acquired after robot arm implanted a fixator with fiducial markers into the cervix of pelvic phantom. The treatment plans were designed by contoured a simulated tumor lesion site. The fiducial markers position was obtained by real-time image guidance system and was registered with digitally reconstructed radiographs to calculate correlation error of six directions. The correlation error was delivered to the robotic arm to precisely adjust the position and posture of the fixator, and thus compensated uterocervical intrafraction movement through the interactive interface of the robotic system. The pressure sensor at the head of the fixator provided real-time feedback on the pressure value at the contact surface between the fixer and the cervix. The correlation error of six directions and the pressure value were extracted and analyzed from the log file. The data from the log file indicated that the three translational direction correlation error of x, y and z were 0.19mm, 0.20mm and 0.10mm, respectively. The three rotational direction correlation error of roll, pitch and yaw were 0.25°, 0.21° and 0.23°, respectively. With the increase of the relative distance between cervix and pressure sensor, the mean value of pressure variation decreases gradually. When the relative distance is 0.5mm and 3mm, the mean value of pressure variation is approximately 76% and 32%, respectively. The correlation accuracy of the robotic system meets the clinical requirements. The robot arm can fix and monitor the cervical motion in real time during radiotherapy. The robot system adjusts the position of the fixator to correct the uterocervical intrafraction motion error, which is feasible and has good clinical application prospect.

Risk-Adapted SABR for Ultra-Central Lung Tumors Attaining High BED10 to Targets in a Steep Dose-Response Window of 72-105 Gy under Tumor Tracking: A Planning Study

Higher rate of durable local control in stereotactic ablative radiotherapy (SABR) for ultra-central lung tumors (UCLTs) strongly correlates to a BED10 ≥ 100 Gy to the tumors. However, higher rates of grade 5 toxicities are reported to be directly associated with higher dose to the organs at risk (OARs) abutting or in close distance to the UCLTs, including trachea, proximal bronchial tree (PBT) and esophagus. This study evaluated two risk-adapted SABR schemes in a steep dose-response window of BED10 at 72 -105 Gy with isotoxic optimization and dynamic tumor tracking to safely attain high BED10 to the tumors while keeping dose to the OARs within evidence-based tolerances. A total of 12-16 patients are included for planning under two risk-adapted-SABR schemes of 60 Gy in 8 (scheme A) and15 (scheme B) fractions to attain high BED10 of ≥100 Gy to the distal sections of the PTV and yet potent BED10 at 72-84 Gy to the proximal sections of the PTV. Such inhomogeneous dose plans use a 3-5 mm GTV to PTV margins under a scenario that patients have at least one fiducial marker placed in or near the GTV for real-time tumor tracking on a robotic SRS-SABR system. All plans used fixed cone collimators and a planning tool's dose calculation to reach highest BED10 dose coverage achievable to the target volumes while respecting the OAR dose tolerances, including V105 Gy, V100 Gy, V84 Gy and V72 Gy in BED10 for target volumes and the maximum EQD2 dose tolerances (α/β = 3 Gy) in D0.03cc for the trachea/PBT ≤80.5-82.5 Gy and esophagus ≤64.0-77.6 Gy in scheme-A; and trachea/PBT≤97.7 Gy and esophagus ≤64.3 Gy in scheme-B. Median and range of plan dosimetry metrics are compared between the two schemes. For scheme-A, mean BED10 to PTV are 118.0 Gy (median) in105.5-133.5 Gy (range), and mean BED10 dose to GTV are 132.2 (118.3-149.4 Gy). EQD2 dose to trachea are 80.5 Gy (68.0-81.7 Gy), PBT 80.5 Gy (49.1-82.2 Gy), esophagus 67.2 Gy (51.6-77.3 Gy). PTV coverage by BED10 of 72 Gy, 84 Gy, 100 Gy and 105 Gy are 98.9% (87.5-100%), 97.1% (81.8-99.8%), 91.9% (72.5-98.6%) and 85.3% (68.5-97.9%). For scheme-B, mean BED10 to PTV are 102.2 Gy (93.4-106.0 Gy), and mean BED10 dose to GTV are 115.4 (103.4-117.3 Gy). EQD2 dose to trachea are 73.3 Gy (67.5-96.3 Gy), PBT 90.9 Gy (74.4-97.2 Gy), esophagus 61.4 Gy (41.9-64.1 Gy). PTV coverage by BED10 of 72 Gy, 84 Gy, 100 Gy and 105 Gy are 100% (94.9-100%), 95.5% (83.9-99.0%), 54.8% (31.2-65.4%) and 42.8% (17.9-53.2%). Two risk-adapted SABR of 7.5 Gyx8 and 4 Gyx15 are implemented for treating ultra-central lung tumors with BED10 ≥100 Gy to the distal sections of PTV and yet attain potent BED10 ≥72-84 Gy to the proximal sections of PTV that abut or overlap with trachea, proximal bronchial tree or esophagus. Accurate dose calculation by a planning tool and real-time tumor tracking are essential for safe and accurate delivery of such high-risk SABR treatments.

Clinical Feasibility of Daily Online Adaptive Bladder Cancer Radiotherapy with Cone Beam CT, Using Fiducial Makers

Radiotherapy (RT) for muscle invasive bladder cancer is challenging due to varying bladder filling. We assessed the efficacy and feasibility of online adaptive RT (oART), applying a focal boost to the tumor, in terms of dose and workflow. Bladder cancer patients (N = 15) were treated with oART on a ring-shaped Linac. This system integrates imaging (CBCT) with AI-based organ and tumor segmentation, adaptive treatment planning and delivery. Before treatment the GTV was demarcated with liquid markers. On the planning CT organs-at-risk and the GTV were contoured. The reference treatment plan was optimized with total dose for PTV (elective bladder, lymph nodes) 40Gy/20 fractions and an integrated focal boost to the GTV (15Gy). Margins were 3mm (GTV-CTV) and 5mm (CTV-PTV). Before each daily treatment, a CBCT was acquired. Bladder, rectum and GTV were determined by the AI. Planning CT and CBCT were registered to generate other organs at risk. Subsequently, the dose of the reference plan was calculated for this anatomy (scheduled plan). An adaptive plan was generated by reoptimization. Subsequently, a second pretreatment CBCT (CBCT2) was made to verify and correct the position, when necessary. Target coverage for PTV and GTV (V95%) and dose outside the target were evaluated on CBCT2. Radiation therapists (RTTs) executed the oART workflow with medical physicists (MPs) and radiation oncologists (ROs) on call. The time (median [range]) and personnel involvement were monitored. For all adaptive plans V95%>98% for CTV and GTV (boost) volumes. For scheduled plans this was 53.5% (CTV boost) and 98.5% (bladder+lymph nodes). For adaptive vs scheduled plans, the volume of dose (40Gy) to tissue outside the PTV reduced with 150cm3(p<0. 01). Median session time (patient entering-leaving) was 32 [25-45] min for the first 5 patients and reduced to 27 [20-61] min for subsequent patients. About 30% of this time was reoptimization. AI-generated GTVs were corrected in 75% for the first 5 patients and 40% for subsequent patients (taking 5min). Fiducial markers were clearly visible on CBCTs supporting GTV localization. ROs and MPs were consulted during each first fraction (5% of total) and 12% of the remaining fractions. The adaptive procedure is well feasible in clinical practice with an RTT-only workflow. The procedure takes longer than conventional RT, with reoptimization as a main factor. Dosimetric result are clearly favorable compared to delivery of non-adaptive plans.

Inaugural Experience with Real-time Gated Liver Proton SBRT and Treatment Plan Quality Improvement

DIBH SBRT is routinely used for liver proton therapy. While intra-fraction target motion is limited with DIBH, acquisition of DIBH CT simulations in triplicate, as is done at our institution, reveals that variation does exist between each DIBH scan. The related target position can also vary correspondingly. The most common setup uncertainty for robust proton SBRT liver plan used at our institution is 5 mm sup-inf (SI) and 3 mm radially. Real-time gated proton therapy (RGPT) has the potential to provide instantaneous feedback for intra-fraction target motion to maximize patient safety and inform optimal treatment planning. Our first RGPT liver SBRT with intra-fraction motion under deep inspiration breath hold (DIBH). The potential treatment plan quality improvement brought by RGPT is investigated. The following metrics were used in establishing our RGPT proton DIBH SBRT liver program: the iso center is always set at the fiducial mark; the beam orientation is selected to achieve both good plan quality and tracking performance; daily CBCTs are acquired and verified using fiducial maker position with kV images; robust uncertainty is determined by the gating tolerance; SBRT plan has three beams with uniform dose. Target motion was monitored throughout treatment. To evaluate dose sparing for surrounding OARs, a plan with tighter gating tolerance (3 mm SI and 2 mm radially) is optimized for dosimetric comparison. Statistical analyses were conducted using a programming environment. Each of the three proton beams were delivered using DIBH over a total of 120-140 seconds. The average beam on time were 61.4, 66.9 and 62.8 seconds. The intra-fraction motion showed that targets could move up to 3 mm within the same DIBH. The motion increased with time. The table details the mean, maximum, standard deviation, and estimated upper 95% of directional shifts for three beams. Based on these results, plan delivery efficiency was maintained even with tighter gating tolerance. The comparison plan with tight gating tolerance showed significantly less dose (-25%) to the stomach in coronal view. RGPT successfully tracked fiducial marker motion for DIBH SBRT liver treatment. Despite target drift during DIBH, the uncertainty of our DIBH SBRT procedure was sufficient to cover target motion throughout treatment. Based on the target drift value, a maximum of 25 seconds for breath hold time should be employed. Utilizing a tighter gating tolerance of 3 mm SI and 2 mm radially has the potential to maintain target coverage while significantly reducing OAR dose. Aggregated RGPT-derived data may provide optimal treatment planning parameters such as variable uncertainty based on target location.

Focal Boosted IMRT Treatment of Prostate Cancer to 84 Gy in 28 Fractions: Preliminary Clinical Outcomes and Dosimetry

The FLAME trial reported that focal boosting of prostate tumor to 95 Gy in 35 fractions improves biochemical control. However, this treatment is not commonly used in the United States. We investigated a focally boosted treatment of 84 Gy in 28 fractions (EQD2 108 Gy, BED 252 Gy). Between 2019-2022, men with unfavorable intermediate risk (uIR) and high risk (HR) prostate cancer were enrolled on a prospective registry and received a novel IMRT regimen. The dose levels were 84 Gy to the gross tumor volume (GTV) as defined on mpMRI (T2W and ADC) with no added margin, 70 Gy to the prostate and proximal seminal vesicles, and optional 50.4 Gy to elective pelvic lymph nodes (all 28 fractions). Patients received fiducial markers and hydrogel spacer. The treatment planning goal was to cover 95% of the GTV at 84 Gy, and also meet the target and normal tissue dosimetry criteria of the hypofractionated treatment arm of NRG-GU005. VMAT was used for treatment delivery. ADT was given at the discretion of the treating physician. A total of 20 men were included in the study, 2 (10%) uIR and 18 (90%) HR. 9 (45%) tumors were GS 7, 7 (35%) were GS 8, and 4 (20%) were GS 9. There were 13 (65%) stage cT1, 4 (20%) cT2 and 3 (15%) cT3. One (5%) patient received short term ADT, 18 (95%) long term ADT, and 1 (5%) refused ADT. 18 (90%) men received elective nodal radiation. The mean baseline PSA was 25.1 (range 4.2-73.4). The median baseline IPSS score was 11.1 (IQR 4.5-12), and 4 patients had severe baseline urinary symptoms (IPSS ≥20). The mean baseline prostate volume was 57.4 cc (range 26.8-198.3). The mean volume of the 84 Gy boost target was 7.1 cc (range 2.3-15.0) and the mean proportion of the prostate boosted was 14.8% (range 2% - 47%). There were 10 (50%) men with 1 boost target, 6 (30%) with two, 3 (15%) with three, and 1 (5%) had 4 boost targets. Targets were located in peripheral zone (85%), transition zone (30%), and central zone (5%). Patients met all per-protocol normal tissue criteria of NRG-GU005, except for bladder D0.03cc. The mean±SD (Gy) rectum D15%, D25%, and D30% were 51±5, 45±5, 42±4. The mean±SD (Gy) bladder D0.03cc, D30%, D50% were 79±4, 50±8, 38±10. At a median follow up time of 21.3 months (range 7.1-38.2), no patients have developed biochemical progression, local recurrence, distant progression, or death from prostate cancer. One patient died at 18 months from metastatic colorectal cancer, unrelated to prostate cancer treatment. Acute grade 1-2 GU toxicity occurred in 13 (65%) patients, and acute grade 1-2 GI toxicity occurred in 4 (20%) patients. No patients developed grade 3+ acute or late GU or GI toxicity. Two patients required temporary foley catheter for obstruction during RT, and both had IPSS >20 at baseline. The patient who refused ADT had a PSA bounce of magnitude 2.2 ng/mL at 14 months, PSA values declined without additional treatment. A novel 28-fraction focal boosted IMRT treatment is feasible and has an acceptable early toxicity profile. Oncologic results are promising but require longer follow up.

Respiratory Motion Compensation Using Xsight Diaphragm Tracking for Liver Tumor in CK Synchrony Treatment: A Feasibility Study

This study investigates the feasibility of using Xsight Diaphragm Tracking (XDT) for liver tumors located near or in the diaphragm during CyberKnife Synchrony Treatment. Eight patients (46 fractions) with liver tumors located near or in the diaphragm were reviewed retrospectively. Prior to motion data analysis, baselines were flattened to remove the portions with significant changes and improve accuracy. To reduce the uncertainty about sudden irregular breathing, respiratory data were calculated as a rolling average. The overall tracking accuracy based on the patient-specific respiratory curve was evaluated using E2E testing with CIRS (18023-A) dynamic phantom. Three main trajectories were observed in this work: Linearity (1/8), Linear radial type (6/8) and Hysteresis (1/1). The mean amplitude was 8.56±4.54 mm, 2.77±2.83 mm, and 4.23±3.92 mm for S-I, L-R, and A-P components. The linear trajectory patient had a more concentrated amplitude distribution. The baseline shifts were 5.88 mm (S-I), 2.53 mm (L-R), and 3.48 mm (A-P). Except for patient 2, all standard deviations of the center phase shift were less than 1 mm. The values of XDT correlation and prediction errors were 1.38±0.65 mm vs. 0.65±0.16 mm (S-I), 1.28±0.48 mm vs. 0.34±0.10 mm (L-R), and 0.96±0.32 mm vs. 0.22±0.072 mm (A-P), respectively. The strong positive correlations were amplitude vs. prediction error, SD of center phase vs. prediction error, and SD of center phase vs. amplitude. The median patient curve-based targeting accuracy was less than 1mm. Additionally, the mean target coverage for all patients with a 3 mm margin was 98.03±1.54%. This study proved that the diaphragm could be used as a tracking surrogate for liver tumors located in or near the diaphragm instead of placing golden fiducial markers. A reduction in motion amplitude and respiration training were necessary during liver SABR treatment, along with respiration control and evaluation.

Single-Fraction Pre-Operative Stereotactic Radiosurgery for Early-Stage Breast Cancer: Pathological Findings

to assess pathological results after single-fraction pre-operative stereotactic radiosurgery of early-stage breast cancer. A phase 2 clinical trial to investigate the feasibility of pre-operative radiosurgery for early-stage breast cancer was conducted. Eligible patients are women older than 50 years, with histologically proven breast invasive ductal carcinoma, hormonal receptors positive/human epidermal grow factor receptor 2 negative, any grade, tumor size < 3cm, unifocal, with no nodal involvement, and suitable for breast conservative surgery. An expert radiologist injected ultrasound-guided a fiducial marker to precisely identify tumor positioning. The Planning Target Volume (PTV) is created by adding a 3mm margin to the Gross Tumor Volume (GTV). A single fraction of 30-33 Gy is delivered to 95% of PTV. Patients had a breast MRI scan 6-12 weeks after treatment to evaluate the rate of radiological response. Surgery was performed at 9 to 16 weeks after irradiation. From January 2022 to December 2022, 33 patients underwent single-fraction radiosurgery, of whom 29 had breast conserving surgery (BCS). BCS was performed at 9-10 weeks for the first 14 patients, at 14-16 weeks for 13 patients, and at 18-19 weeks for 2 patients. The pathological response was defined as complete response (pCR) if no residual tumor cells were found, partial response (pPR), or no response. The pPR were also subdivided into 3 subgroups according to the rate of residual disease: < 10%, 10-50%, and > 50%. Two patients (7%) achieved pCR, both treated with 33 Gy and operated at 14 weeks. Twenty-five patients (86%) had pPR, of which 7 patients (24%) had residual disease < 10%, 9 patients (31%) between 10-50% and 9 patients (31%) over 50%. Two patients (7%) had no pathological response. All patients had sentinel lymph node biopsy at the time of surgery. Positive micrometastatic nodal involvement was found in 3 patients (11%), of which 2 patients (7%) had macrometastases (pN1a) and received subsequent axillary lymph node dissection. All patients had negative surgical margins. Not any acute and sub-acute surgical complications were observed. Single-fraction pre-operative stereotactic radiosurgery for early-stage breast cancer leads to a high rate of complete or partial pathological response with surgery performed at 2-4 months following irradiation.

MR Object Identification and Interaction

The increasing number of objects in ubiquitous computing environments creates a need for effective object detection and identification mechanisms that permit users to intuitively initiate interactions with these objects. While multiple approaches to such object detection -- including through visual object detection, fiducial markers, relative localization, or absolute spatial referencing -- are available, each of these suffers from drawbacks that limit their applicability. In this paper, we propose ODIF, an architecture that permits the fusion of object situation information from such heterogeneous sources and that remains vertically and horizontally modular to allow extending and upgrading systems that are constructed accordingly. We furthermore present BLEARVIS, a prototype system that builds on the proposed architecture and integrates computer-vision (CV) based object detection with radio-frequency (RF) angle of arrival (AoA) estimation to identify BLE-tagged objects. In our system, the front camera of a Mixed Reality (MR) head-mounted display (HMD) provides a live image stream to a vision-based object detection module, while an antenna array that is mounted on the HMD collects AoA information from ambient devices. In this way, BLEARVIS is able to differentiate between visually identical objects in the same environment and can provide an MR overlay of information (data and controls) that relates to them. We include experimental evaluations of both, the CV-based object detection and the RF-based AoA estimation, and discuss the applicability of the combined RF and CV pipelines in different ubiquitous computing scenarios. This research can form a starting point to spawn the integration of diverse object detection, identification, and interaction approaches that function across the electromagnetic spectrum, and beyond.

Micro-structured polymer fixed targets for serial crystallography at synchrotrons and XFELs.

Fixed targets are a popular form of sample-delivery system used in serial crystallography at synchrotron and X-ray free-electron laser sources. They offer a wide range of sample-preparation options and are generally easy to use. The supports are typically made from silicon, quartz or polymer. Of these, currently, only silicon offers the ability to perform an aperture-aligned data collection where crystals are loaded into cavities in precise locations and sequentially rastered through, in step with the X-ray pulses. The polymer-based fixed targets have lacked the precision fabrication to enable this data-collection strategy and have been limited to directed-raster scans with crystals randomly distributed across the polymer surface. Here, the fabrication and first results from a new polymer-based fixed target, the micro-structured polymer fixed targets (MISP chips), are presented. MISP chips, like those made from silicon, have a precise array of cavities and fiducial markers. They consist of a structured polymer membrane and a stabilization frame. Crystals can be loaded into the cavities and the excess crystallization solution removed through apertures at their base. The fiducial markers allow for a rapid calculation of the aperture locations. The chips have a low X-ray background and, since they are optically transparent, also allow for an a priori analysis of crystal locations. This location mapping could, ultimately, optimize hit rates towards 100%. A black version of the MISP chip was produced to reduce light contamination for optical-pump/X-ray probe experiments. A study of the loading properties of the chips reveals that these types of fixed targets are best optimized for crystals of the order of 25 µm, but quality data can be collected from crystals as small as 5 µm. With the development of these chips, it has been proved that polymer-based fixed targets can be made with the precision required for aperture-alignment-based data-collection strategies. Further work can now be directed towards more cost-effective mass fabrication to make their use more sustainable for serial crystallography facilities and users.

Unsupervised registration of 3D knee implant components to biplanar X-ray images

BackgroundRegistration of three-dimensional (3D) knee implant components to radiographic images provides the 3D position of the implants which aids to analyze the component alignment after total knee arthroplasty.MethodsWe present an automatic 3D to two-dimensional (2D) registration using biplanar radiographic images based on a hybrid similarity measure integrating region and edge-based information. More precisely, this measure is herein defined as a weighted combination of an edge potential field-based similarity, which represents the relation between the external contours of the component projections and an edge potential field estimated on the two radiographic images, and an object specificity property, which is based on the distinction of the region-label inside and outside of the object.ResultsThe accuracy of our 3D/2D registration algorithm was assessed on a sample of 64 components (32 femoral components and 32 tibial components). In our tests, we obtained an average of the root mean square error (RMSE) of 0.18 mm, which is significantly lower than that of both single similarity methods, supporting our hypothesis of better stability and accuracy with the proposed approach.ConclusionOur method, which provides six accurate registration parameters (three rotations and three translations) without requiring any fiducial markers, makes it possible to perform the important analyses on the rotational alignment of the femoral and tibial components on a large number of cases. In addition, this method can be extended to register other implants or bones.

Liver stereotactic body radiation therapy without fiducial or retained ethiodized oil guidance warrants greater than 5 mm planning target volumes.

For liver stereotactic body radiation therapy (SBRT), the placement of fiducial markers or retained ethiodized oil by transarterial chemoembolisation (TACE) provides a landmark for consistent target localisation. TACE and fiducial markers are invasive procedures that harbour additional risks. We hypothesise that liver SBRT can be accurately delivered without the use of these invasive surrogate markers. We retrospectively identified 50 consecutive patients who underwent liver SBRT with respiratory motion management to a single lesion which exhibited retained ethiodized oil per prior TACE delivery. For each SBRT fraction, two manual rigid image registrations were performed by the treating physician. One using the liver contour as a surrogate for the target and second aligning only to the radio-opaque retained ethiodized oil of the treated lesion. The magnitude of the displacement vector between the two registration methods was used to assess the accuracy of target localisation if ethiodized oil was not present. For the 50 patients, a total of 244 analysable cone-beam CTs (CBCTs) were included (six CBCTs excluded due to poor ethiodized oil visualisation). Respiratory motion management techniques consisted of active breathing control for 13 and abdominal compression for 37 patients. Forty-two patients had peripheral lesions and eight had central lesions (<2 cm from left and right portal veins). The average target localisation offset between the two registration methods (i.e. liver contour vs. retained ethiodized oil alignment) for patients with a single peripheral or central liver lesion was 5.8 and 5.3 mm, respectively. Across all patients, the average change in target position exceeded 5 mm for image registration methods based on the liver contour alone versus the retained ethiodized oil region. This suggests that margins greater than 5 mm may be required for respiratory motion-managed liver SBRT treatments in patients who do not undergo prior TACE or fiducial placement.

Simultaneous object detection and segmentation for patient-specific markerless lung tumor tracking in simulated radiographs with deep learning.

Real-time tumor tracking is one motion management method to address motion-induced uncertainty. To date, fiducial markers are often required to reliably track lung tumors with X-ray imaging, which carries risks of complications and leads to prolonged treatment time. A markerless tracking approach is thus desirable. Deep learning-based approaches have shown promise for markerless tracking, but systematic evaluation and procedures to investigate applicability in individual cases are missing. Moreover, few efforts have been made to provide bounding box prediction and mask segmentation simultaneously, which could allow either rigid or deformable multi-leaf collimatortracking. The purpose of this study was to implement a deep learning-based markerless lung tumor tracking model exploiting patient-specific training which outputs both a bounding box and a mask segmentation simultaneously. We also aimed to compare the two kinds of predictions and to implement a specific procedure to understand the feasibility of markerless tracking on individualcases. We first trained a Retina U-Net baseline model on digitally reconstructed radiographs (DRRs) generated from a public dataset containing 875 CT scans and corresponding lung nodule annotations. Afterwards, we used an independent cohort of 97 lung patients to develop a patient-specific refinement procedure. In order to determine the optimal hyperparameters for automatic patient-specific training, we selected 13 patients for validation where the baseline model predicted a bounding box on planning CT (PCT)-DRR with intersection over union (IoU) with the ground-truth higher than 0.7. The final test set contained the remaining 84 patients with varying PCT-DRR IoU. For each testing patient, the baseline model was refined on the PCT-DRR to generate a patient-specific model, which was then tested on a separate 10-phase 4DCT-DRR to mimic the intrafraction motion during treatment. A template matching algorithm served as benchmark model. The testing results were evaluated by four metrics: the center of mass (COM) error and the Dice similarity coefficient (DSC) for segmentation masks, and the center of box (COB) error and the DSC for bounding box detections. Performance was compared to the benchmark model including statistical testing forsignificance. A PCT-DRR IoU value of 0.2 was shown to be the threshold dividing inconsistent (68%) and consistent (100%) success (defined as mean bounding box DSC > 0.6) of PS models on 4DCT-DRRs. Thirty-seven out of the eighty-four testing cases had a PCT-DRR IoU above 0.2. For these 37 cases, the mean COM error was 2.6 mm, the mean segmentation DSC was 0.78, the mean COB error was 2.7 mm, and the mean box DSC was 0.83. Including the validation cases, the model was applicable to 50 out of 97 patients when using the PCT-DRR IoU threshold of 0.2. The inference time per frame was 170 ms. The model outperformed the benchmark model on all metrics, and the comparison was significant (p < 0.001) over the 37 PCT-DRR IoU > 0.2 cases, but not over the undifferentiated 84 testingcases. The implemented patient-specific refinement approach based on a pre-trained baseline model was shown to be applicable to markerless tumor tracking in simulated radiographs for lungcases.

3D model-based tracking combining edges, keypoints and fiducial markers

3D model-based tracking combining edges, keypoints and fiducial markers

Evaluation of computed tomography metal artifact and CyberKnife fiducial recognition for novel size fiducial markers.

This study aimed to compare fiducial markers used in CyberKnife treatment in terms of metal artifact intensity observed in CT images and fiducial recognition in the CyberKnife system affected by patient body thickness and type of marker. Five markers, ACCULOC 0.9mm×3mm, Ball type Gold Anchor (GA) 0.28mm×10mm, 0.28mm×20mm, and novel size GA 0.4mm×10mm, 0.4mm×20mm were evaluated. To evaluate metal artifacts of CT images, two types of CT images of water-equivalent gels with each marker were acquired using Aquilion LB CT scanner, one applied SEMAR (SEMAR-on) and the other did not apply this technique (SEMAR-off). The evaluation metric of artifact intensity (MSD ) which represents a variation of CT values were compared for each marker. Next, 5, 15, and 20cm thickness of Tough Water (TW) was placed on the gel under the condition of overlapping the vertebral phantom in the Target Locating System, and the live image of each marker was acquired to compare fiducial recognition. The mean MSD of SEMAR-off was 78.80, 74.50, 97.25, 83.29, and 149.64 HU for ACCULOC, GA0.28mm×10mm, 20mm, and 0.40mm×10mm, 20mm, respectively. In the same manner, that of SEMAR-on was 23.52, 20.26, 26.76, 24.89, and 33.96 HU, respectively. Fiducial recognition decreased in the order of 5, 15, and 20cm thickness, and GA 0.4×20mm showed the best recognition at thickness of 20cm TW. We demonstrated the potential to reduce metal artifacts in the CT image to the same level for all the markers we evaluated by applying SEMAR. Additionally, the fiducial recognition of each marker may vary depending on the thickness of the patient's body. Particularly, we showed that GA 0.40×20mm may have more optimal recognition for CyberKnife treatment in cases of high bodily thickness in comparison to the other markers.

Endoscopically placed fiducial markers for image-guided radiotherapy in preoperative gastric cancer: Technical feasibility and potential benefit.

Background and study aims Fiducial markers have demonstrated clinical value in radiotherapy in several organs, but little is known about markers in the stomach. Here, we assess the technical feasibility of endoscopic placement of markers in gastric cancer patients and their potential benefit for image-guided radiotherapy (IGRT). Patients and methods In this prospective feasibility study, 14 gastric cancer patients underwent endoscopy-guided gold (all patients) and liquid (7 patients) marker placements distributed throughout the stomach. Technical feasibility, procedure duration, and potential complications were evaluated. Assessed benefit for IGRT comprised marker visibility on acquired imaging (3-4 computed tomography [CT] scans and 19-25 cone-beam CTs [CBCTs] per patient) and lack of migration. Marker visibility was compared per marker type and location (gastroesophageal junction (i.e., junction/cardia), corpus (corpus/antrum/fundus), and pylorus). Results Of the 93 marker implantation attempts, 59 were successful, i.e., marker in stomach wall and present during entire 5-week radiotherapy course (2-6 successfully placed markers per patient), with no significant difference (Fisher's exact test; P >0.05) in success rate between gold (39/66=59%) and liquid (20/27=74%). Average procedure duration was 24.4 min (range 16-38). No procedure-related complications were reported. All successfully placed markers were visible on all CTs, with 81% visible on ≥95% of CBCTs. Five markers were poorly visible (on <75% of CBCTs), possibly due to small marker volume and peristaltic motion since all five were liquid markers located in the corpus. No migration was observed. Conclusions Endoscopic placement of fiducial markers in the stomach is technically feasible and safe. Being well visible and positionally stable, markers provide a potential benefit for IGRT.

CyberKnife® stereotactic radiation therapy for stage I lung cancer and pulmonary oligometastases: is fiducial implantation still relevant?-a cohort study.

Few studies have investigated whether there is a difference in local control or overall survival rates following treatment with robotic stereotactic body radiation therapy (SBRT) with or without prior fiducial marker implantation. Our study aimed to investigate this in patients with primary or secondary lung tumors. A retrospective study was conducted at the Institut de Cancérologie de Lorraine of patients treated for primary lung cancer or pulmonary oligometastases with SBRT from January 2013 to July 2016. We included patients at least 18 years old who had stage I non-small cell lung cancer (NSCLC) or lung metastases and a follow-up of at least 1 month. A total of 294 patients were included. Tumors included 122 lung metastases, 89 stage I NSCLC, and 83 non-histologically confirmed lung lesions. The tracking methods were Synchrony® in 191 cases (119 gold seeds and 72 coils) and Xsight® Spine with 4D computed tomography in 103 cases. Median follow-up was 31.6 months [interquartile range (IQR), 18.1-50.2 months]. The two- and five-year probability of local control were respectively 92.22% [95% confidence interval (CI): 0.89-0.95] and 85.35% (95% CI: 0.79-0.99). The two- and five-year probability of overall survival were respectively 87.46% and 72.77% (P=0.586). Local control rates did not significantly differ between techniques at 2 and 5 years (P=0.685) (gold seeds, coils or Xsight® Spine) within tumors grouped by location, gross tumor volume (GTV) (respectively P=0.9, P=0.7, and P=0.4), planning target volume (PTV) (respectively P=0.4, P=0.9, and P=0.7), or PTV/GTV ratio (respectively P=0.6, P=0.6, and P=0.5). Metastasis-free survival and Overall survival rates did not significantly differ between techniques at 2 and 5 years (P=0.664 and P=0.586, respectively). There were no grade 4 or 5 toxicities and only one grade 3 pneumonitis and one grade 3 pneumothorax. Fiducial-less SBRT using Xsight® Spine is a safe alternative to Synchrony® using gold seeds or coils, with comparable local control and overall survival rates and a similar toxicity profile.

The accuracy of dynamic computer assisted implant surgery in fully edentulous jaws: A retrospective case series.

To evaluate the accuracy of implant placement using a dynamic navigation system in fully edentulous jaws and to analyze the influence of implant distribution on implant position accuracy. Edentulous patients who received implant placement using a dynamic navigation system were included. Four to six mini screws were placed in the edentulous jaw under local anesthesia as fiducial markers. Then patients received CBCT scans. Virtual implant positions were designed in the planning software based on CBCT data. Under local anesthesia, implants were inserted under the guidance of the dynamic navigation system. CBCTs were taken following implant placement. The deviation between the actual and planned implant positions was measured by comparing the pre- and postsurgery CBCT. A total of 13 edentulous patients with 13 edentulous maxillae and 7 edentulous mandibles were included, and 108 implants were placed. The average linear deviations at the implant entry point and apex were 1.08 ± 0.52 mm and 1.15 ± 0.60 mm, respectively. The average angular deviation was 2.85 ± 1.20°. No significant difference was detected in linear and angular deviations between the maxillary and mandibular implants, neither between the anterior and posterior implants. The dynamic navigation system provides high accuracy for implant placement in fully edentulous jaws, while the distribution of the implants showed little impact on implant position accuracy.

CT-guided Transgluteal Prostate Fiducial Marker Insertion for Localized Radiation Therapy.

To Evaluate the safety and technical success of transgluteal CT-guided fiducial marker implantation into the prostate as an alternative method to transperineal and transrectal approaches. We retrospectively identified all patients who had undergone CT-guided transgluteal fiducial marker insertion between 2020 and 2022. Four patients with confirmed prostate cancer were identified. One radiologist performed all procedures via a bilateral transgluteal approach under the guidance of real-time CT-fluoroscopy. Twenty cm long pre-waxed 18G guiding needles, preloaded with smooth gold fiducial markers, were used to implant markers. Technical success was defined as the successful placement of the fiducial markers into the planned positions. The mean age of patients was 70years. The mean procedure time was 19.25 (SD: 6.75)min, and the mean total dose length product (DLP) was 801.75 (SD: 291.17) mGycm, which is compatible with the 12mSv estimated effective dose. All procedures were technically successful (100%). All patients tolerated the procedure and did not require any analgesia for pain, and there were no requests to stop or pause the procedure. Only one patient reported hematuria one day after the procedure, which required no treatment. Transgluteal CT-guided fiducial marker implantation into the prostate is an alternative method to transperineal and transrectal approaches. In this technique, the risk of septic complications is minor, and general anesthesia is not required. Thus, transgluteal CT-guided marker insertion is a feasible and well-tolerated method for image-guided radiation therapy (IGRT) in patients with prostate cancer.

UAS Control under GNSS Degraded and Windy Conditions

Multirotor Uncrewed Aircraft Systems (UAS), widely known as aerial drones, are increasingly used in various indoor and outdoor applications. For outdoor field deployments, the plethora of UAS rely on Global Navigation Satellite Systems (GNSS) for their localization. However, dense environments and large structures can obscure the signal, resulting in a GNSS-degraded environment. Moreover, outdoor operations depend on weather conditions, and UAS flights are significantly affected by strong winds and possibly stronger wind gusts. This work presents a nonlinear model predictive position controller that uses a disturbance observer to adapt to changing weather conditions and fiducial markers to augment the system’s localization. The developed framework can be easily configured for use in multiple different rigid multirotor platforms. The effectiveness of the proposed system is shown through rigorous experimental work in both the lab and the field. The experimental results demonstrate consistent performance, regardless of the environmental conditions and platform used.