2D-3D rigid registration to compensate for prostate motion during 3D TRUS-guided biopsy

Silva, Tharindu De; Fenster, Aaron; Cool, Derek W.; Gardi, Lori; Romagnoli, Cesare; Samarabandu, Jagath; Ward, Aaron D.

doi:10.1118/1.4773873

Cited by 46 publications

(40 citation statements)

References 13 publications

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“…Conversely, for first-time biopsy patients, removal of Std-Bx would have prevented detection of five (10%) clinically insignificant CaP, but would have missed five (10%) Gleason 3 + 4 malignancies (technical Fn-Bx errors the probable cause in three cases). Improved Fn-Bx technology, including intraprocedural motion compensation, 33 are likely to minimize Fn-Bx targeting errors and will be the focus of future studies.…”

Section: Figmentioning

confidence: 99%

Comparison of prostate MRI-3D transrectal ultrasound fusion biopsy for first-time and repeat biopsy patients with previous atypical small acinar proliferation

Cool

Romagnoli

Izawa

et al. 2016

CUAJ

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Introduction: This study evaluates the clinical benefit of magnetic resonance-transrectal ultrasound (MR-TRUS) fusion biopsy over systematic biopsy between first-time and repeat prostate biopsy patients with prior atypical small acinar proliferation (ASAP). Materials: 100 patients were enrolled in a single-centre prospective cohort study: 50 for first biopsy, 50 for repeat biopsy with prior ASAP. Multiparameteric magnetic resonance imaging (MP-MRI) and standard 12-core ultrasound biopsy (Std-Bx) were performed on all patients. Targeted biopsy using MRI-TRUS fusion (Fn-Bx) was performed f suspicious lesions were identified on the prebiopsy MP-MRI. Classification of clinically significant disease was assessed independently for the Std-Bx vs. Fn-Bx cores to compare the two approaches. Results: Adenocarcinoma was detected in 49/100 patients (26 first biopsy, 23 ASAP biopsy), with 25 having significant disease (17 first, 8 ASAP). Fn-Bx demonstrated significantly higher per-core cancer detection rates, cancer involvement, and Gleason scores for first-time and ASAP patients. However, Fn-Bx was significantly more likely to detect significant cancer missed on Std-Bx for ASAP patients than first-time biopsy patients. The addition of Fn-Bx to Std-Bx for ASAP patients had a 166.7% relative risk reduction for missing Gleason ≥ 3 + 4 disease (number needed to image with MP-MRI=10 patients) compared to 6.3% for first biopsy (number to image=50 patients). Negative predictive value of MP-MRI for negative biopsy was 79% for first-time and 100% for ASAP patients, with median followup of 32.1 ± 15.5 months. Conclusions: MR-TRUS Fn-Bx has a greater clinical impact for repeat biopsy patients with prior ASAP than biopsy-naïve patients by detecting more significant cancers that are missed on Std-Bx.

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Section: Figmentioning

confidence: 99%

Comparison of prostate MRI-3D transrectal ultrasound fusion biopsy for first-time and repeat biopsy patients with previous atypical small acinar proliferation

Cool

Romagnoli

Izawa

et al. 2016

CUAJ

Self Cite

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“…In image-guided intervention, it has been used to incorporate prior information (e.g., preoperative CT-based planning data) into intraoperative x-ray fluoroscopy. Applications of 3D–2D registration include improving target localization accuracy in radiation therapy (Gendrin et al 2012), real-time kinematic analysis of skeletal movements using fluoroscopy (Xin et al 2013, Zhu et al 2012, Jerbi et al 2012), guidance of various surgical interventions such as cardiac surgery (Rivest-Henault et al 2012), and transrectal ultrasound guided surgery (De Silva et al 2013). Recent application includes spine surgery (Otake et al 2012c) where automatic labeling of vertebral levels in intraoperative fluoroscopy was used to localize the target vertebrae and help prevent wrong-site surgery (Palumbo et al 2013).…”

Section: Introductionmentioning

confidence: 99%

Robust 3D–2D image registration: application to spine interventions and vertebral labeling in the presence of anatomical deformation

et al. 2013

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We present a framework for robustly estimating registration between a 3D volume image and a 2D projection image and evaluate its precision and robustness in spine interventions for vertebral localization in the presence of anatomical deformation. The framework employs a normalized gradient information similarity metric and multi-start covariance matrix adaptation evolution strategy optimization with local-restarts, which provided improved robustness against deformation and content mismatch. The parallelized implementation allowed orders-of-magnitude acceleration in computation time and improved the robustness of registration via multi-start global optimization. Experiments involved a cadaver specimen and two CT datasets (supine and prone) and 36 C-arm fluoroscopy images acquired with the specimen in four positions (supine, prone, supine with lordosis, prone with kyphosis), three regions (thoracic, abdominal, and lumbar), and three levels of geometric magnification (1.7, 2.0, 2.4). Registration accuracy was evaluated in terms of projection distance error (PDE) between the estimated and true target points in the projection image, including 14 400 random trials (200 trials on the 72 registration scenarios) with initialization error up to ±200 mm and ±10°. The resulting median PDE was better than 0.1 mm in all cases, depending somewhat on the resolution of input CT and fluoroscopy images. The cadaver experiments illustrated the tradeoff between robustness and computation time, yielding a success rate of 99.993% in vertebral labeling (with `success' defined as PDE <5 mm) using 1,718 664 ± 96 582 function evaluations computed in 54.0 ± 3.5 s on a mid-range GPU (nVidia, GeForce GTX690). Parameters yielding a faster search (e.g., fewer multi-starts) reduced robustness under conditions of large deformation and poor initialization (99.535% success for the same data registered in 13.1 s), but given good initialization (e.g., ±5 mm, assuming a robust initial run) the same registration could be solved with 99 993% success in 6.3 s. The ability to register CT to fluoroscopy in a manner robust to patient deformation could be valuable in applications such as radiation therapy, interventional radiology, and an assistant to target localization (e.g., vertebral labeling) in image-guided spine surgery.

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“…In fact, gland distortion from probe motion is frequently observed during direct MRI-guided biopsy ( Figure 9 ) and may account for an average registration error of approximately 4–5 mm during standard fusion biopsy (29,30). While computer guided techniques including real time elastic fusion and motion compensation are being developed, these are not in widespread use and it is likely residual registration errors are common in practice (31,32). Given that the primary difference between Pi-RADS 4 and 5 lesions is a size threshold of 1.5 cm, it is notable that the cancer detection rate for fusion biopsy is generally significantly lower for Pi-RADS 4 than 5, for example, 62% (94/152) for Pi-RADS 4 lesions versus 89% (99/111) for Pi-RADS 5 lesions in one study (33).…”

Section: Current Status Of Direct Mri-guided Biopsymentioning

confidence: 99%

Direct magnetic resonance imaging-guided biopsy of the prostate: lessons learned in establishing a regional referral center

Addicott

Foster

Johnson

et al. 2017

Transl. Androl. Urol.

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MRI-targeted biopsy of the prostate appears to have the potential to reduce the high rates of underdiagnosis and overdiagnosis associated with the current diagnostic standard of transrectal ultrasound guided systematic biopsy. Direct or “in bore” MRI-guided biopsy is one of the three methods for MRI-targeted core needle sampling of suspicious, generally Pi-RADS 4 or 5, foci within the prostate, and our early experience suggests the approach demonstrates substantial utility and promise in the care of patients with prostate cancer. We performed direct MRI-guided biopsies in 50 patients within 19 months of establishing the first referral center for this service in our region. Our preliminary results indicate the service can be easily grown due to unmet demand, primarily in patients with a negative traditional systematic biopsy but with a concerning focus at MRI (30 of 50; 60%). Other applications include evaluation of patients who are on active surveillance (n=14; ten upgraded to higher Gleason score at MRI-guided biopsy), who are biopsy naïve (n=5; all positive at MRI-guided biopsy), or post focal therapy (n=1; positive for recurrent tumor at MRI-guided biopsy). With careful patient selection and technique, we have achieved a favorable overall positive biopsy rate of 73% (37 of 50), with 84% (31 of 37) positive biopsies demonstrating Gleason score 7 or greater disease. Large multicenter comparative trials will be required to determine the relative accuracy and appropriate utilization of direct MRI guided biopsy in the care pathway of patients with known or suspected prostate cancer.

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2D-3D rigid registration to compensate for prostate motion during 3D TRUS-guided biopsy

Abstract: Registration to compensate for prostate motion during 3D TRUS-guided biopsy can be performed with a measured accuracy of less than 2 mm and a speed of 1.1 s, which is an important step toward improving the targeting accuracy of a 3D TRUS-guided biopsy system.

Cited by 46 publications

References 13 publications

Comparison of prostate MRI-3D transrectal ultrasound fusion biopsy for first-time and repeat biopsy patients with previous atypical small acinar proliferation

Comparison of prostate MRI-3D transrectal ultrasound fusion biopsy for first-time and repeat biopsy patients with previous atypical small acinar proliferation

Robust 3D–2D image registration: application to spine interventions and vertebral labeling in the presence of anatomical deformation

Direct magnetic resonance imaging-guided biopsy of the prostate: lessons learned in establishing a regional referral center

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