Fiducial Tracking Research Articles

Evaluation of a novel patient-specific quality assurance phantom for robotic single-isocentre, multiple-target stereotactic radiosurgery, and stereotactic radiotherapy.

To evaluate patient-specific quality assurance (PSQA) of 3 targets in a single delivery using a novel film-based phantom. The phantom was designed to rotate freely as a sphere and could measure 3 targets with film in a single delivery. After identifying the coordinates of 3 targets in the skull, the rotation angles about the equator and meridian were computed for optimal phantom setup, ensuring the film plane intersected the 3 targets. The plans were delivered on the CyberKnife system using fiducial tracking. The irradiated films were scanned and processed. All films were analysed using 3 gamma criteria. Fifteen CyberKnife test plans with 3 different modalities were delivered on the phantom. Both automatic and marker-based registration methods were applied when registering the irradiated film and dose plane. Gamma analysis was performed using a 3%/1 mm, 2%/1 mm, and 1%/1 mm criteria with a 10% threshold. For the automatic registration method, the passing rates were 98.2% ± 1.9%, 94.2% ± 3.7%, and 80.9% ± 6.3%, respectively. For the marker-based registration approach, the passing rates were 96.4% ± 2.7%, 91.7% ± 4.3%, and 78.4% ± 6.2%, respectively. A novel spherical phantom was evaluated for the CyberKnife system and achieved acceptable PSQA passing rates using TG218 recommendations. The phantom can measure true-composite dose and offers high-resolution results for PSQA, making it a valuable device for robotic radiosurgery. This is the first study on PSQA of 3 targets concurrently on the CyberKnife system.

Real-time nonstandard-shaped gold fiducial marker tracking on x-ray fluoroscopic images for prostate radiotherapy

Objective. The prostate moves in accordance with the movement of surrounding organs. Tumor position can change by ≥3 mm during radiotherapy. Given the difficulties of visualizing the prostate fluoroscopically, fiducial markers are generally implanted into the prostate to monitor its motion during treatment. Recently, internally motion guidance methods of the prostate using a 99.5% gold/0.5% iron flexible notched wire fiducial marker (Gold Anchor® , Naslund Medical AB, Huddinge, Sweden), which requires a 22 gauge needle, has been used. However, because the notched wire can retain its linear shape, acquire a spiral shape, or roll into an irregular ball, detecting it on fluoroscopic images in real-time incurs higher computation costs. Approach. We developed a fiducial tracking algorithm to achieve real-time computation. The marker is detected on the first image frame using a shape filter that employs inter-class variance for the marker likelihood calculated by the filter, focusing on the large difference in densities between the marker and its surroundings. After the second frame, the marker is tracked by adding to the shape filter the similarity to the template cropped from the area around the marker position detected in the first frame. We retrospectively evaluated the algorithm’s marker tracking accuracy for ten prostate cases, analyzing two fractions in each case. Main results. Tracking positional accuracy averaged over all patients was 0.13 ± 0.04 mm (mean ± standard deviation, Euclidean distance) and 0.25 ± 0.09 mm (95th percentile). Computation time was 2.82 ± 0.20 ms/frame averaged over all frames. Significance. Our algorithm successfully and stably tracked irregularly-shaped markers in real time.

GoldDigger and Checkers, computational developments in cryo-scanning transmission electron tomography to improve the quality of reconstructed volumes.

In this work, we present a pair of tools to improve the fiducial tracking and reconstruction quality of cryo-scanning transmission electron tomography (STET) datasets. We then demonstrate the effectiveness of these two tools on experimental cryo-STET data. The first tool, GoldDigger, improves the tracking of fiducials in cryo-STET by accommodating the changed appearance of highly defocussed fiducial markers. Since defocus effects are much stronger in scanning transmission electron microscopy than in conventional transmission electron microscopy, existing alignment tools do not perform well without manual intervention. The second tool, Checkers, combines image inpainting and unsupervised deep learning for denoising tomograms. Existing tools for denoising cryo-tomography often rely on paired noisy image frames, which are unavailable in cryo-STET datasets, necessitating a new approach. Finally, we make the two software tools freely available for the cryo-STET community.

End-to-end validation of fiducial tracking accuracy in robotic radiosurgery using MRI-only simulation imaging.

Image-guided radiation-therapy (IGRT)-based robotic radiosurgery using magnetic resonance imaging (MRI)-only simulation could allow for improved target definition with highly conformal radiotherapy treatments. Fiducial marker (FM)-based alignment is used with robotic radiosurgery treatments of sites such as the prostate because it aids in accurate target localization. Synthetic CT (sCT) images are generated in the MRI-only workflow but FMs used for IGRT appear as signal voids in MRIs and do not appear in MR-generated sCTs, hindering the ability to use sCTs for fiducial-based IGRT. In this study we evaluate the fiducial tracking accuracy for a novel artificial fiducial insertion method in sCT images that allows for fiducial marker tracking in robotic radiosurgery, using MRI-only simulation imaging (MRI-only workflow). Artificial fiducial markers were inserted into sCT images at the site of the real marker implantation as visible in MRI. Two phantoms were used in this study. A custom anthropomorphic pelvis phantom was designed to validate the tracking accuracy for a variety of artificial fiducials in an MRI-only workflow. A head phantom containing a hidden target and orthogonal film pair inserts was used to perform end-to-end tests of artificial fiducial configurations inserted in sCT images. The setup and end-to-end targeting accuracy of the MRI-only workflow were compared to the computed tomography (CT)-based standard. Each phantom had six FMs implanted with a minimum spacing of 2cm. For each phantom a bulk-density sCT was generated, and artificial FMs were inserted at the implantation location. Several methods of FM insertion were tested including: (1) replacing HU with a fixed value (10000HU) (voxel-burned); (2) using a representative fiducial image derived from a linear combination of fiducial templates (composite-fiducial); (3) computationally simulating FM signal voids using a digital phantom containing FMs and inserting the corresponding signal void into sCT images (simulated-fiducial). All tests were performed on a CyberKnife system (Accuray, Sunnyvale, CA). Treatment plans and digital-reconstructed-radiographs were generated from the original CT and sCTs with embedded fiducials and used to align the phantom on the treatment couch. Differences in the initial phantom alignment (3D translations/rotations) and tracking parameters between CT-based plans and sCT-based plans were analyzed. End-to-end plans for both scenarios were generated and analyzed following our clinical protocol. For all plans, the fiducial tracking algorithm was able to identify the fiducial locations. The mean FM-extraction uncertainty for the composite and simulated FMs was below 48% for fiducials in both the anthropomorphic pelvis and end-to-end phantoms, which is below the 70% treatment uncertainty threshold. The total targeting error was within tolerance (<0.95mm) for end-to-end tests of sCT images with the composite and head-on simulated FMs (0.26, 0.44, and 0.35mm for the composite fiducial in sCT, head-on simulated fiducial in sCT, and fiducials in original CT, respectively. MRI-only simulation for robotic radiosurgery could potentially improve treatment accuracy and reduce planning margins. Our study has shown that using a composite-derived or simulated FM in conjunction with sCT images, MRI-only workflow can provide clinically acceptable setup accuracy in line with CT-based standards for FM-based robotic radiosurgery.

Evaluation of kV Triggered Fiducial Tracking for Prostate SBRT Intrafraction Motion Management.

Stereotactic body radiation therapy (SBRT) is a safe and effective treatment for localized prostate cancer. Given the high dose per fraction, a high degree of precision is needed during SBRT treatment delivery. Fiducial marker tracking is a means of monitoring intrafraction motion, ensuring precise treatment delivery and potentially allowing for decreased planning target volume (PTV) margins. We present a 5-year single institution experience to characterize the performance of fiducial tracking. We analyzed 132 consecutive patients treated at our institution with prostate SBRT between July 2017 and November 2022 using fiducial tracking with the TrueBeam Auto Beam Hold feature. Patients were treated using a 5-fraction dose escalation protocol, with many receiving a simultaneous integrated boost to the GTV up to 45 Gy. All patients underwent pre-treatment cone-beam CT and planar kV imaging with rigid registration to the fiducial markers. Cine kV images were acquired every 3-5 seconds during treatment delivery and the beam was paused when a fiducial deviated from a given 4 mm diameter tolerance region. Additional intrafraction 2D or 3D imaging techniques were then used to realign the fiducials. Data was retrieved from the record and verify system including: number and type of intrafraction images, number of treatment interruptions, number of and magnitude of shifts, and total treatment time. The average number of cine kV images acquired per fraction and for the total 5 fraction SBRT course were 86.6 ± 26.8 and 425.6 ± 136.8 respectively. Assuming 1.3 mGy/kV image, the fiducial tracking process delivered an average additional 55.3 cGy over the full treatment course. On average, the beam was paused 5.0 ± 2.5 times per fraction (range 1-21 interruptions) and shifts were applied 4.1 ± 2.1 times (range 0-10.2 times) per fraction. Over the 2560 total shifts applied for all the patients, the average(max) translations were 0.6 (12) mm vrt, 0.7 (22) mm lng, and 0.9 (5) mm lat and the average(max) rotations were 0.19 (5.9)° pitch, 0.01 (2.4)° roll, and 0.16 (6.4)° rtn. Overall, 2.4% of shifts were greater than the 4 mm PTV margin and 4.2% of vertical shifts were greater than the 2.5 mm posterior margin. Average fraction treatment time was 27 ± 9.7 minutes. Fiducial tracking affords the potential to increase daily treatment precision when delivering prostate SBRT. Our data indicate that the beam is typically paused several times during a prostate SBRT fraction, with occasional large shifts required, suggesting the importance of intrafraction motion management. Downsides of kV triggered fiducial tracking include extension of treatment times and delivery of additional radiation dose to the patient. We are investigating if this method of motion management might allow for a reduction in PTV margins to reduce normal tissue dosing.

Evaluation of Patient-Specific Quality Control (QC) for Markerless Dynamic Tumor Tracking (MDTT) Deliveries

To report on the patient-specific QC for MDTT for liver and lung tumors treated using the dome-of-liver/diaphragm as a surrogate for the target position and compare to the QC of conventional fiducial-based tracking. Vero4DRT is a linear accelerator that has a gimbal-mounted waveguide and collimation system allowing the radiation beam to perform dynamic tumor tracking based on a patient's respiratory motion. A correlation model is built between an external IR marker placed on the chest and an internal structure, which may be implanted fiducial surrogates or in the case of MDTT, an anatomic landmark. During treatment an orthogonal kV image pair is taken every second. The auto detected internal structure position versus the predicted position is recorded in treatment log files. Five IMRT tracking plans were delivered to two commercial motion phantoms with in-house additions for patient-specific tracking QC. For point dose measurements, a 0.6cc farmer chamber was placed inside the dynamic tracking phantom which contains fiducials for fiducial-based tracking delivery and an anatomic landmark for MDTT. For 2D dose distribution measurements, a radiographic film insert for the Quasar Respiratory Motion Phantom was constructed. The phantom contains both fiducials and has a liver-dome shape at one end to facilitate MDTT. Both motion platforms were interfaced with software that enabled patient-specific respiratory motion traces acquired during a 4DCT scan. Each plan was delivered three times on each phantom: 1) in static mode, 2) during fiducial-based tracking, and 3) during MDTT. Chamber measurements taken during static and tracked delivery were compared to the average chamber dose from the treatment planning software (TPS). Film distributions measured during tracked deliveries were compared to the static film distribution using gamma analysis with FILMQA PRO software. Finally, dynamic tracking treatment statistics, extracted from log files, were compared between fiducial and markerless tracking deliveries. All chamber measurements resulted in dose differences <2.5% compared with the TPS. Dose differences between fiducial-based and MDTT were 0.26% on average (range 0.03-0.62%). For film dose map analysis, gamma pass rates were >95% for all plans for all tracking methods. The average gamma pass rate for 3%/3mm was 99.4% (fiducial-based) vs 98.4% (markerless). For 2%/2mm, the average gamma pass rate was 96.4% (fiducial-based tracking) vs 95.6% (MDTT). Dynamic treatment statistics from logs files reported an average 3D absolute deviation from predicted position of 0.52mm (±0.24) for fiducial tracking and 1.19mm (±0.50) for MDTT. Both fiducial-based and MDTT plans meet passing criteria for patient-specific QC. 3D absolute deviation of detected versus predicted position are larger for MDTT compared to fiducial tracking, however no significant impact on dose delivery was measured.

Population-based asymmetric margins for moving targets in real-time tumor tracking.

Both geometric and dosimetric components are commonly considered when determining the margin for planning target volume (PTV). As dose distribution is shaped by controlling beam aperture in peripheral dose prescription and dose-escalated simultaneously integrated boost techniques, adjusting the margin by incorporating the variable dosimetric component into the PTV margin is inappropriate; therefore, geometric components should be accurately estimated for margin calculations. We introduced an asymmetric margin-calculation theory using the guide to the expression of uncertainty in measurement (GUM) and intra-fractional motion. The margins in fiducial marker-based real-time tumor tracking (RTTT) for lung, liver, and pancreatic cancers were calculated and were then evaluated using Monte Carlo (MC) simulations. A total of 74705, 73235, and 164968 sets of intra- and inter-fractional positional data were analyzed for 48 lung, 48 liver, and 25 pancreatic cancer patients, respectively, in RTTT clinical trials. The 2.5th and 97.5th percentiles of the positional error were considered representative values of each fraction of the disease site. The population-based statistics of the probability distributions of these representative positional errors (PD-RPEs) were calculated in six directions. A margin covering 95% of the population was calculated using the proposed formula. The content rate in which the clinical target volume (CTV) was included in the PTV was calculated through MC simulations using the PD-RPEs. The margins required for RTTT were at most 6.2, 4.6, and 3.9mm for lung, liver, and pancreatic cancer, respectively. MC simulations revealed that the median content rates using the proposed margins satisfied 95% for lung and liver cancers and 93% for pancreatic cancer, closer to the expected rates than the margins according to van Herk's formula. Our proposed formula based on the GUM and motion probability distributions (MPD) accurately calculated the practical margin size for fiducial marker-based RTTT. This was verified through MC simulations.

Preoperative single fraction breast radiotherapy: Intra-fraction geometric uncertainties and dosimetric implications

PurposeA preoperative breast robotic radiosurgery trial was concluded in our centre. Purposes of the present study were to evaluate retrospectively over the enrolled patients: i) respiratory patterns ii) tracking uncertainties iii) necessity of respiratory compensation iv) tracking errors dosimetric effects. Methods22 patients were treated in 21 Gy single fraction using CyberKnife (CK) respiratory modelling and tracking (SynchronyResp) and data extracted from log-files. Respiratory motion and baseline drifts (BD) were analyzed. SynchronyResp uncertainties were computed and compared with errors simulated for CK fiducial tracking without respiratory compensation. Plans were perturbed by tracking errors and perturbed doses calculated on the planning CT scan in order to simulate the dosimetric consequences of intra-fraction errors. ResultsAfter BD correction, respiratory amplitudes were below 5.5 mm except one value of 8 mm. 50% of patients showed BD above 3 mm. Standard deviations of SynchronyResp errors remained within 2.1 mm. Standard deviations of tracking errors without respiratory compensation were comparable and below 2.5 mm. Using a 3 mm PTV margin, perturbed CTV coverage was below 95% (93.7%) just for one patient. The latter case presented a large CTV-Skin interface. Perturbed OAR doses were always judged clinically acceptable. ConclusionIntra-fraction geometric uncertainties and their effects were quantified for breast neoadjuvant CK treatments. Data indicated that in the majority of cases respiratory compensation may be disabled without increasing uncertainties and reducing treatment time, provided that fiducial intra-fraction tracking is performed to account for BD. Dosimetric effects are mostly not clinically relevant.

Clinical Factors That Affect Fiducial Tracking in Robotic SABR for Lung Tumors

SABR is a treatment option for patients with lung tumors that employs fiducials to track tumors during the breathing cycle. Currently, there is a paucity of data on how relative fiducial location and patient clinical characteristics affect fiducial tracking and clinical outcomes. This study aimed to identify factors that reduce the number of fiducials tracked with respiratory motion management during SABR. An institutional review board-approved retrospective review was performed of patients receiving robotic SABR for lung tumors at our institution from 2016 to 2019. Clinical data including demographics, medical history, treatment data, and follow-up were collected. Fiducial geometries were obtained with Velocity contouring software and MATLAB. Mann-Whitney U, χ2, and t tests were completed using MedCalc. A total of 73 patients with 77 treatments were identified. The χ2 analysis revealed that chronic obstructive pulmonary disease was associated with having 3 or more fiducials tracked (P=.034). Tumors in lower lobes were associated with higher rates of uncertainty errors (P=.015). The number of fiducials tracked had no effect on local tumor control or overall survival, with a median of 36 months of follow-up. A total of 28 treatments had fiducial centroid data available for geometric analysis. The most common tracking errors were rigid body error (RBE; 57%) and spacing errors (36.4%). Spacing errors had a shorter average minimum interfiducial distance than nonspacing errors (1.0 cm vs 1.7 cm, respectively; P=.017). RBE treatments had a longer average maximum distance than non-RBE treatments (4.0 cm vs 3.0 cm; P=.022). Greater motion in lower lobes can contribute to certain tracking errors that prevent more fiducials from being tracked. Maintaining interfiducial distance between experimentally determined guidelines may limit spacing errors and RBEs, the 2 most common tracking errors. An increased number of patients in a data set may result in stronger correlations between patient and tumor factors and outcomes.

Comprehensive Treatment Uncertainty Analysis and PTV Margin Estimation for Fiducial Tracking in Robotic Liver Stereotactic Body Radiation Therapy.

This study aims to quantify the uncertainties of CyberKnife Synchrony fiducial tracking for liver stereotactic body radiation therapy (SBRT) cases, and evaluate the required planning target volume (PTV) margins. A total of 11 liver tumor patients with a total of 57 fractions, who underwent SBRT with synchronous fiducial tracking, were enrolled for the present study. The correlation/prediction model error, geometric error, and beam targeting error were quantified to determine the patient-level and fraction-level individual composite treatment uncertainties. The composite uncertainties and multiple margin recipes were compared for scenarios with and without rotation correction during treatment. The correlation model error-related uncertainty was 4.3±1.8, 1.4±0.5 and 1.8±0.7 mm in the superior-inferior (SI), left-right, and anterior-posterior directions, respectively. These were the primary contributors among all uncertainty sources. The geometric error significantly increased for treatments without rotation correction. The fraction-level composite uncertainties had a long tail distribution. Furthermore, the generally used 5-mm isotropic margin covered all uncertainties in the left-right and anterior-posterior directions, and only 75% of uncertainties in the SI direction. In order to cover 90% of uncertainties in the SI direction, an 8-mm margin would be needed. For scenarios without rotation correction, additional safety margins should be added, especially in the superior-inferior and anterior-posterior directions. The present study revealed that the correlation model error contributes to most of the uncertainties in the results. Most patients/fractions can be covered by a 5-mm margin. Patients with large treatment uncertainties might need a patient-specific margin.

PO-1455 Impact of pelvic irradiation on fiducial tracking prior to SBRT for high-risk prostate cancer

PO-1455 Impact of pelvic irradiation on fiducial tracking prior to SBRT for high-risk prostate cancer

Abstract PD3-06: Robotic Stereotactic APBI for Early-Stage Breast Cancer: 2-year Outcomes of a Prospective Multi-Institutional Trial

Abstract Purpose: Outcomes following adjuvant accelerated partial breast irradiation (APBI) in select women with early-stage breast cancer are comparable to whole breast irradiation. Robotic stereotactic accelerated partial breast irradiation (RSAPBI) with fiducial tracking is an attractive treatment option, but limited outcomes data are available for this approach. We report 2-year outcomes for a prospective multi-institutional trial treating select women with RSAPBI. Materials and Methods: Post-menopausal women with DCIS and Stage IA breast cancer were treated over a five-year period extending from November 2015 to November 2020 and were followed for a minimum of 18 months. Treatments were delivered with a robotic radiosurgery system. Four gold fiducials were implanted around the lumpectomy cavity prior to the start of treatment for tumor bed delineation and target tracking. The CTV was defined as the lumpectomy cavity with a uniform 5-15 mm expansion confined to the breast tissue and the PTV was defined as the CTV with a 0-5 mm uniform expansion. The PTV was prescribed 30 Gy in 5 fractions. Disease status assessments were completed at 4 weeks, 3 months, 6 months, 12 months, 18 months, 24 months and yearly intervals thereafter for five years. Results: Eighty-one patients (median age 68 years) with hormone receptor-positive tumors were treated over a median 9 days (range, 5-15). Sixty-eight women had invasive ductal carcinoma (84%) and thirteen had DCIS (16%). The median treated PTV was 108 cm3 (IQR 66-156) and the median prescription isodose line was 81% (IQR 79-83). The median CTV expansion was 10 mm (range 5-10) and the median PTV expansion was 3 mm (range 0-5). At a median follow up of 2 years there was one new ipsilateral breast tumor diagnosed. There were no local, regional, or distant treatment failures. Conclusions: Two-year results suggest that RSAPBI with fiducial tracking is an effective technique for the adjuvant treatment of post-menopausal women with hormone receptor-positive early-stage breast cancer. Additional follow-up is planned to confirm this preliminary finding. Citation Format: Jonathan M. Cantalino, David D’Ambrosio, Arica Hirsch, Brian Collins, Malika Danner, Dawn Matsanka, Sonali Rudra, Simeng Suy, Sean Collins, Monica Pernia Marin, Michael Good, Jing Feng, John Lamond, Deborah Markiewicz, Rachelle Lanciano, Olusola Obayomi-Davies. Robotic Stereotactic APBI for Early-Stage Breast Cancer: 2-year Outcomes of a Prospective Multi-Institutional Trial [abstract]. In: Proceedings of the 2022 San Antonio Breast Cancer Symposium; 2022 Dec 6-10; San Antonio, TX. Philadelphia (PA): AACR; Cancer Res 2023;83(5 Suppl):Abstract nr PD3-06.

An unsupervised image registration method employing chest computed tomography images and deep neural networks

BackgroundDeformable image registration is crucial for multiple radiation therapy applications. Fast registration of computed tomography (CT) lung images is challenging because of the large and nonlinear deformation between inspiration and expiration. With advancements in deep learning techniques, learning-based registration methods are considered efficient alternatives to traditional methods in terms of accuracy and computational cost. MethodIn this study, an unsupervised lung registration network (LRN) with cycle-consistent training is proposed to align two acquired CT-derived lung datasets during breath-holds at inspiratory and expiratory levels without utilizing any ground-truth registration results. Generally, the LRN model uses three loss functions: image similarity, regularization, and Jacobian determinant. Here, LRN was trained on the CT datasets of 705 subjects and tested using 10 pairs of public CT DIR-Lab datasets. Furthermore, to evaluate the effectiveness of the registration technique, target registration errors (TREs) of the LRN model were compared with those of the conventional algorithm (sum of squared tissue volume difference; SSTVD) and a state-of-the-art unsupervised registration method (VoxelMorph). ResultsThe results showed that the LRN with an average TRE of 1.78 ± 1.56 mm outperformed VoxelMorph with an average TRE of 2.43 ± 2.43 mm, which is comparable to that of SSTVD with an average TRE of 1.66 ± 1.49 mm. In addition, estimating the displacement vector field without any folding voxel consumed less than 2 s, demonstrating the superiority of the learning-based method with respect to fiducial marker tracking and the overall soft tissue alignment with a nearly real-time speed. ConclusionsTherefore, this proposed method shows significant potential for use in time-sensitive pulmonary studies, such as lung motion tracking and image-guided surgery.

Robotic Stereotactic Body Radiation Therapy for the Adjuvant Treatment of Early-Stage Breast Cancer: Outcomes of a Large Single-Institution Study

PurposeAdvancements in breast radiation therapy offer innumerable benefits to patients and the health care system. Despite promising outcomes, clinicians remain hesitant about long-term side effects and disease control with accelerated partial breast radiation therapy (APBI). Herein, we review the long-term outcomes of patients with early-stage breast cancer treated with adjuvant stereotactic partial breast irradiation (SAPBI). Methods and MaterialsThis retrospective study examined outcomes of patients who received diagnoses of early-stage breast cancer treated with adjuvant robotic SAPBI. All patients were eligible for standard ABPI and underwent lumpectomy, followed by fiducial placement in preparation for SAPBI. Using fiducial and respiratory tracking to maintain a precise dose distribution throughout the course of treatment, patients received 30 Gy in 5 fractions on consecutive days. Follow-up occurred at routine intervals to evaluate disease control, toxicity, and cosmesis. Toxicity and cosmesis were characterized using the Common Terminology Criteria for Adverse Events version 5.0 and Harvard Cosmesis Scale, respectively. ResultsPatients (N = 50) were a median age of 68.5 years at the time of treatment. The median tumor size was 7.2 mm, 60% had an invasive cell type, and 90% were estrogen receptor positive, progesterone receptor positive, or both. Patients (n = 49) were followed for a median of 4.68 years for disease control and 1.25 years for cosmesis and toxicity. One patient experienced local recurrence, 1 patient experienced grade 3+ late toxicity, and 44 patients demonstrated excellent cosmesis. ConclusionsTo our knowledge, this is the largest retrospective analysis with the longest follow-up time for disease control among patients with early breast cancer treated with robotic SAPBI. With follow-up time for cosmesis and toxicity comparable to that of previous studies, results of the present cohort advance our understanding of the excellent disease control, excellent cosmesis, and limited toxicity that can be achieved by treating select patients with early-stage breast cancer with robotic SAPBI.

Quantifying 6D tumor motion and calculating PTV margins during liver stereotactic radiotherapy with fiducial tracking

Our study aims to estimate intra-fraction six-dimensional (6D) tumor motion with rotational correction and the related correlations between motions of different degrees of freedom (DoF), as well as quantify sufficient anisotropic clinical target volume (CTV) to planning target volume (PTV) margins during stereotactic body radiotherapy (SBRT) of liver cancer with fiducial tracking technique. A cohort of 12 patients who were implanted with 3 or 4 golden markers were included in this study, and 495 orthogonal kilovoltage (kV) pairs of images acquired during the first fraction were used to extract the spacial position of each golden marker. Translational and rotational motions of tumor were calculated based on the marker coordinates by using an iterative closest point (ICP) algorithm. Moreover, the Pearson product-moment correlation coefficients (r) were applied to quantify the correlations between motions with different degrees of freedom (DoFs). The population mean displacement ( ), systematic error (Σ) and random error (σ) were obtained to calculate PTV margins based on published recipes. The mean translational variability of tumors were 0.56, 1.24 and 3.38mm in the left-right (LR, X), anterior-posterior (AP, Y), and superior-inferior (SI, Z) directions, respectively. The average rotational angles θ X , θ Y and θ Z around the three coordinate axes were 0.88, 1.24 and 1.12, respectively. (|r|>0.4) was obtainted between Y -Z , Y - θ Z , Z -θ Z and θ X - θ Y . The PTV margins calculated based on 13 published recipes in X, Y, and Z directions were 1.08, 2.26 and 5.42mm, and the 95% confidence interval (CI) of them were (0.88,1.28), (1.99,2.53) and (4.78,6.05), respectively. The maximum translational motion was in SI direction, and the largest correlation coefficient of Y-Z was obtained. We recommend margins of 2, 3 and 7mm in LR, AP and SI directions, respectively.

Performance evaluation of online motion synchronizing systems for patient-specific respiratory movements with helical tomotherapy

Background and purpose. The introduction of online motion synchronizing system on helical tomotherapy paves way for robust motion tracking. A recent upgrade launches modifications on both hardware and software of the kV tracking system. An evaluation on the kV subsystems, prior (Version1) and post upgrade (Version2), was performed to compare tracking accuracy by means of fiducial tracking error and resulted root-mean-square (RMS). Impacts influenced by various patient-specific breathing pattern regularities and target movements were also investigated to refine motion tracking error estimations upon future selection of possible candidates. Materials and methods. Respiratory patterns from twenty-five lung cases were imported individually into a commercial dynamic platform model. Situating a phantom implanted with gold fiducial markers on the platform, superior-inferior (SI) movements of corresponding targets were simulated. Each case was delivered via an identical treatment plan in Version1 and was repeated in Version2. Motion tracking accuracy, by means of discrepancies between subsystem predicted model and raw data motion recorded in patient CT simulation, was analyzed statistically. Wilcoxon signed ranked test was employed to evaluate the difference in tracking error range between the two versions. Statistical model was fitted to inspect the dependence of internal target movement towards fiducial tracking errors. Results. A small difference of ±1 mm was exhibited in 99% of fiducial tracking errors for all cases experimented under both versions. RMS errors were all below 0.5 mm. Version2 demonstrated a greater extremity in fiducial tracking error (p = 0.04). A positive correlation was depicted between internal target amplitudes and 95% interval of fiducial tracking errors (p < 0.02). Overall, irregular respiratory patterns tended to have greater fiducial tracking errors. Conclusions. The excellent tracking performance in both kV subsystem versions offers motion compensations benefits, yet Version1 outperformed Version2 in fiducial tracking accuracy. It is noticeable that greater magnitude in internal target movement and irregular breathing patterns yield greater tracking error.

Feasibility Study of Removable Fiducial Marker Implantation with the Intelligent Navigation Bronchoscopy Technology in Robotic Radiosurgery System Tracking

<h3>Purpose/Objective(s)</h3> To investigate the feasibility of removable fiducial marker implantation with the intelligent navigation bronchoscopy technology in a frameless robotic radiosurgery system tracking. <h3>Materials/Methods</h3> CT scans of an inflatable anti-corruption pig lung were acquired, and two simulated tumor lesion sites were designed in the left and right lung lobes by intelligent navigation software, respectively. According to the principle of fiducial marker implantation, 24 removable fiducial markers were implanted around each simulated tumor lesion via bronchus after intelligent guiding. Simulating the end-expiratory state, the pig lung was scanned again to obtain CT images of the implanted removable fiducial markers and the number of successfully implanted fiducial markers was recorded. Six deliverable treatment plans were designed using the planning system, and then the pig lung plans were delivered based on the simulated respiratory movements. After the treatment, the implanted removable fiducial markers were retrieved through bronchoscopy, and the number of successful retrievals was recorded. The rigid body error and translation error were extracted and analyzed from the log file. <h3>Results</h3> No removed fiducial markers slipped and fell off during the experiment. 24 removable fiducial markers were successfully implanted under bronchoscopic intelligent magnetic navigation guidance, with a 100% implantation success rate (24/24) and 100% removable success rate (24/24). The fiducial marker tracking rate was 83.33% (20/24), with 4 fiducial markers being too far away from the simulated tumor location to be used during the tracking process. The data from the log file displayed that the mean rigid body error for 6 groups was 1.45 mm, the mean translation error was 1.78 mm. <h3>Conclusion</h3> The technology of bronchoscopy intelligent navigation and implantation of removable fiducial marker is feasible, and the tracking accuracy of the frameless robotic radiosurgery system can meet the clinical requirements, which has a good clinical application and teaching application prospect.

Augmenting Performance: A Systematic Review of Optical See-Through Head-Mounted Displays in Surgery.

We conducted a systematic review of recent literature to understand the current challenges in the use of optical see-through head-mounted displays (OST-HMDs) for augmented reality (AR) assisted surgery. Using Google Scholar, 57 relevant articles from 1 January 2021 through 18 March 2022 were identified. Selected articles were then categorized based on a taxonomy that described the required components of an effective AR-based navigation system: data, processing, overlay, view, and validation. Our findings indicated a focus on orthopedic () and maxillofacial surgeries (). For preoperative input data, computed tomography (CT) (), and surface rendered models () were most commonly used to represent image information. Virtual content was commonly directly superimposed with the target site (); this was achieved by surface tracking of fiducials (), external tracking (), or manual placement (). Microsoft HoloLens devices ( in 2021, in 2022) were the most frequently used OST-HMDs; gestures and/or voice () served as the preferred interaction paradigm. Though promising system accuracy in the order of 2–5 mm has been demonstrated in phantom models, several human factors and technical challenges—perception, ease of use, context, interaction, and occlusion—remain to be addressed prior to widespread adoption of OST-HMD led surgical navigation.

Long-term tracking and quantification of individual behavior in bumble bee colonies

Social insects are ecologically dominant and provide vital ecosystem services. It is critical to understand collective responses of social insects such as bees to ecological perturbations. However, studying behavior of individual insects across entire colonies and across timescales relevant for colony performance (i.e., days or weeks) remains a central challenge. Here, we describe an approach for long-term monitoring of individuals within multiple bumble bee (Bombus spp.) colonies that combines the complementary strengths of multiple existing methods. Specifically, we combine (a) automated monitoring, (b) fiducial tag tracking, and (c) pose estimation to quantify behavior across multiple colonies over a 48 h period. Finally, we demonstrate the benefits of this approach by quantifying an important but subtle behavior (antennal activity) in bumble bee colonies, and how this behavior is impacted by a common environmental stressor (a neonicotinoid pesticide).

Prostate Cancer Treatment with Pencil Beam Proton Therapy Using Rectal Spacers sans Endorectal Balloons.

PurposeProton beam radiotherapy (PBT) has been used for the definitive treatment of localized prostate cancer with low rates of high-grade toxicity and excellent patient-reported quality-of-life metrics. Technological advances such as pencil beam scanning (PBS), Monte Carlo dose calculations, and polyethylene glycol gel rectal spacers have optimized prostate proton therapy. Here, we report the early clinical outcomes of patients treated for localized prostate cancer using modern PBS–PBT with hydrogel rectal spacing and fiducial tracking without the use of endorectal balloons.Materials and MethodsThis is a single institutional review of consecutive patients treated with histologically confirmed localized prostate cancer. Prior to treatment, all patients underwent placement of fiducials into the prostate and insertion of a hydrogel rectal spacer. Patients were typically given a prescription dose of 7920 cGy at 180 cGy per fraction using a Monte Carlo dose calculation algorithm. Acute and late toxicity were evaluated using the Common Terminology Criteria for Adverse Events (CTCAE), version 5. Biochemical failure was defined using the Phoenix definition.ResultsFrom July 2018 to April 2020, 33 patients were treated (median age, 75 years). No severe acute toxicities were observed. The most common acute toxicity was urinary frequency. With a median follow-up of 18 months, there were no high-grade genitourinary late toxicities; however, one grade 3 gastrointestinal toxicity was observed. Late erectile dysfunction was common. One treatment failure was observed at 21 months in a patient treated for high-risk prostate cancer.ConclusionEarly clinical outcomes of patients treated with PBS–PBT using Monte Carlo–based planning, fiducial placement, and rectal spacers sans endorectal balloons demonstrate minimal treatment-related toxicity with good oncologic outcomes. Rectal spacer stabilization without the use of endorectal balloons is feasible for the use of PBS–PBT.