Commissioning of an intra-operative US guided prostate HDR system integrating an EM tracking technology

Ultrasound-based planning for high-dose-rate prostate brachytherapy is commonly used in the clinic, mainly because it offers fast real-time image-guided capability at a relatively low cost. The main difficulty with US planning is the catheter reconstruction due to artefacts (from multiple catheters) and echogenicity. Electromagnetic tracking (EMT) system offers a fast and accurate solution for automatic reconstruction of catheters using the EMT technology. In this study, the commissioning and performance evaluation of the new real-time prostate high-dose-rate brachytherapy investigational system from Philips Disease Management Solutions integrating EMT was performed before its clinical integration.

The Philips' clinical investigational system includes a treatment planning software (TPS) that was commissioned based on AAPM TG53 and TG56 recommendations for the use of TPS in brachytherapy. First, the CIRS - model 045A - QA phantom was used to evaluate the ultrasound (US) image quality and 3D image handling. Distances, volumes, and dimensions of the structures inside the phantom were measured and compared to the actual values. The calibration reproducibility and accuracy of the electromagnetic (EM) sensor used to track the US probe (rotation and translation) were performed using a specifically designed QA tool mounted on the probe and immersed in a salted water tank. This was performed for 3 different B&K 8848 US probes to evaluate the sensitivity of EM calibration to the probe geometric properties (manufacturing process). The new TPS performance was compared to that in OncentraBrachy (OcB) V4.5.5 (Elekta) using 30 clinical cases as part of a retrospective study. Following the system commissioning, clinical workflows were explored; tests were performed with the brachytherapy team on phantoms and finally implemented in the clinic.

US image quality evaluation showed a mean difference with actual dimensions (lengths, widths and distances) of 0.4 mm (±0.3 mm) and mean difference in volume sizes of 0.2 cc (±0.2 cc). Then, the calibration of the US-to-EM coordinate system was performed for 3 different probes. For each probe, 3 measurements were acquired for every position of the calibration tool and measurements were repeated 3 times for a total of 27 measurements per probe per plane. The error was slightly higher in transverse mode compared to sagittal mode with mean values of 0.6 ± 0.2 mm and 0.3 ± 0.1 mm respectively. 30 clinical cases were used to compare the new TPS performance to OcB (IPSA). Optimized plans obtained with both systems were all clinically acceptable, but the plans from the Philips system have slightly higher V150% values, V200% values and dose to organs at risk. In the case of organs at risk, plans could have been manually modified to reduce the dose. Philips' system had a larger number of active dwell positions and longer treatment times.

The first clinical version of Philips' system was proven to be stable, accurate and precise. The fully integrated EM tracking technology opens the way for automated catheter reconstruction and on-the-fly dynamical replanning.