Validation of a novel robot‐assisted 3DUS system for real‐time planning and guidance of breast interstitial HDR brachytherapy

Abstract

A novel robot-assisted 3DUS system was designed and validated. To their knowledge, this is the first system capable of performing real-time guidance and planning of breast multicatheter HDR brachytherapy treatments. Future investigation will test the feasibility of using the system in the clinic and for permanent breast brachytherapy.

Development of a 3D ultrasound guidance system for permanent breast seed implantation

“…Median linear measurement errors were within ±1.1%, comparable to the 0.1%–3.0% observed in previous 3D US systems, while absolute volume differences of 0.2 cm 3 were comparable or better. However, the relative volume difference of 2.8%–4.1% was higher than those observed in similar systems, likely due to the small volumes measured (4–6 cm 3 vs 1–288 cm 3 ).…”

“…Similar needs have been previously addressed for permanent seed prostate brachytherapy 16 and multicatheter interstitial breast brachytherapy 17 using US systems with registered needle guides. In prostate brachytherapy, the standard delivery method uses a mechanical stabilizer that supports both a transrectal US (TRUS) probe and a coregistered needle template.…”

“…The 3D US scanner uses a modification of the previously described assembly developed for multicatheter interstitial breast brachytherapy . Briefly, a motorized scanner sweeps a 2D US probe through a predefined “hybrid” motion combining 5 cm of linear translation and 60° angular tilt.…”

“…The multicatheter interstitial breast brachytherapy guidance system developed by Poulin et al. used an analogous approach to prostate brachytherapy, registering a needle template to a robotic 3D US scanner . The registered needle guide consisted of two parallel plates compressing the breast on the medial and lateral aspects.…”

“…19 The multicatheter interstitial breast brachytherapy guidance system developed by Poulin et al used an analogous approach to prostate brachytherapy, registering a needle template to a robotic 3D US scanner. 17 The registered needle guide consisted of two parallel plates compressing the breast on the medial and lateral aspects. The scanner was fixed between the plates and tracked in one rotational degree of freedom (DoF) using an encoder, with a second translational DoF provided by multiple mounting positions.…”