Near-real-time feedback control system for liver thermal ablations based on self-referenced temperature imaging

Our challenge was to design and implement a dedicated temperature imaging feedback control system to guide and assist in a thermal liver ablation procedure in a double-donut 0.5T open MR scanner. This system has near-real-time feedback capability based on a newly developed "self-referenced" temperature imaging method using "moving-slab" and complex-field-fitting techniques. Two phantom validation studies and one ex vivo experiment were performed to compare the newly developed self-referenced method with the conventional subtraction method and evaluate the ability of the feedback control system in the same MR scanner. The near-real-time feedback system was achieved by integrating the following primary functions: (1) imaging of the moving organ temperature; (2) on-line needle tip tracking; (3) automatic turn-on/off the heating devices; (4) a Windows operating system-based novel user-interfaces. In the first part of the validation studies, microwave heating was applied in an agar phantom using a fast spoiled gradient recalled echo in a steady state sequence. In the second part of the validation and ex vivo study, target visualization, treatment planning and monitoring, and temperature and thermal dose visualization with the graphical user interface of the thermal ablation software were demonstrated. Furthermore, MR imaging with the "self-referenced" temperature imaging method has the ability to localize the hot spot in the heated region and measure temperature elevation during the experiment. In conclusion, we have demonstrated an interactively controllable feedback control system that offers a new method for the guidance of liver thermal ablation procedures, as well as improving the ability to assist ablation procedures in an open MR scanner.     

MR monitoring during cryotherapy in the liver: Predictability of histologic outcome

For well-controlled application of cryotherapy to focal liver lesions, real-time monitoring is necessary to limit the final necrotic effect in the treated area. In this study, near real-time magnetic resonance (MR) monitoring images of normal rabbit liver were obtained during the freezing procedure. The MR-monitored, freezing-induced lesions were followed with MR images for up to 3 weeks. Corresponding histologic samples were also obtained over the same time period. Our results indicate that MR images obtained during the freezing procedure can adequately depict the area of final necrosis. Furthermore, histologic changes at each stage of lesion development correlated well with MR signal intensities on follow-up images. With the development of an MR-compatible cryogen probe, MR imaging may prove to be a robust method for monitoring, controlling, and following up cryotherapy in the liver.     

Value of MR contrast media in image-guided body interventions

In the past few years,there have been multiple advances in magnetic resonance (MR) instrumentation,in vivo devices,real-time imaging sequences and interventional procedures with new therapies.More recently,interventionists have started to use minimally invasive image-guided procedures and local therapies,which reduce the pain from conventional surgery and increase drug effectiveness,respectively.Local therapy also reduces the systemic dose and eliminates the toxic side effects of some drugs to other organs.The success of MR-guided procedures depends on visualization of the targets in 3D and precise deployment of ablation catheters,local therapies and devices.MR contrast media provide a wealth of tissue contrast and allows 3D and 4D image acquisitions.After the development of fast imaging sequences,the clinical applications of MR contrast media have been substantially expanded to include pre-during-and post-interventions.Prior to intervention,MR contrast media have the potential to localize and delineate pathologic tissues of vital organs,such as the brain,heart,breast,kidney,prostate,liver and uterus.They also offer other options such as labeling therapeutic agents or cells.During intervention,these agents have the capability to map blood vessels and enhance the contrast between the endovascular guidewire/catheters/devices,blood and tissues as well as direct therapies to the target.Furthermore,labeling therapeutic agents or cells aids in visualizing their delivery sites and tracking their tissue distribution.After intervention,MR contrast media have been used for assessing the efficacy of ablation and therapies.It should be noted that most image-guided procedures are under preclinical research and development.It can be concluded that MR contrast media have great value in preclinical and some clinical interventional procedures.Future applications of MR contrast media in image-guided procedures depend on their safety,tolerability,tissue specificity and effectiveness in demonstrating success of the interventions and therapies.     

1H image-guided localized 31P MR spectroscopy of human brain: quantitative analysis of 31P MR spectra measured on volunteers and on intracranial tumor patients

1H image-guided 31P MR spectra of normal human brain and of intracranial tumors have been analyzed quantitatively. Tumor types examined include prolactinoma, lymphoma, and various grade gliomas. The experimental signals were processed by means of a time-domain least-square fitting procedure, which yields the spectral parameters, as well as a prediction of the standard deviations. Significant spectral variations are observed within both populations of normal brain and of intracranial tumor 31P MR spectra. The metabolic ratios derived from the glioma 31P MR spectra and from corresponding uninfiltrated brain tissue do not differ significantly. Significant differences are, however, observed between the metabolic ratios of prolactinoma and uninfiltrated tissue 31P MR spectra. Alkaline pH values are found for the prolactinoma and the high-grade gliomas. Furthermore, spectral differences are observed between the patient's uninfiltrated tissue 31P MR spectra and those of an unmatched population of volunteers. This underscores the necessity for control measurements on the uninfiltrated tissue of the patient and for controls from a matched population of healthy individuals.     

Real-time control of focused ultrasound heating based on rapid MR thermometry

RATIONALE AND OBJECTIVES: Real-time control of the heating procedure is essential for hyperthermia applications of focused ultrasound (FUS). The objective of this study is to demonstrate the feasibility of MRI-controlled FUS. METHODS: An automatic control system was developed using a dedicated interface between the MR system control computer and the FUS wave generator. Two algorithms were used to regulate FUS power to maintain the focal point temperature at a desired level. RESULTS: Automatic control of FUS power level was demonstrated ex vivo at three target temperature levels (increase of 5 degrees C, 10 degrees C, and 30 degrees C above room temperature) during 30-minute hyperthermic periods. Preliminary in vivo results on rat leg muscle confirm that necrosis estimate, calculated on-line during FUS sonication, allows prediction of tissue damage. CONCLUSIONS. The feasibility of fully automatic FUS control based on MRI thermometry has been demonstrated.     

Techniques for fast stereoscopic MRI.

Stereoscopic MRI can impart 3D perception with only two image acquisitions. This economy over standard multiplanar 3D volume renderings allows faster frame rates, which are needed for real-time imaging applications. Real-time 3D perception may enhance the appreciation of complex anatomical structures, and may improve hand-eye coordination while manipulating a medical device during an image-guided interventional procedure. To this goal, a system is being developed to acquire and display stereoscopic MR images in real-time. A clinically used, fast gradient-recalled echo-train sequence has been modified to produce stereo image pairs. Features have been added for depth cueing, view sharing, and bulk signal suppression. A workstation was attached to a clinical MR scanner for fast data extraction, image reconstruction and stereoscopic image display.     

Three-dimensional method for comparing in vivo interventional MR images of thermally ablated tissue with tissue response

PURPOSE: To investigate the ability of magnetic resonance (MR) to monitor radio-frequency (RF) ablation treatments by comparing MR images of thermal lesions to histologically assayed cellular damage. We developed a new methodology using three-dimensional registration for making spatial correlations. MATERIALS AND METHODS: A low-field, open MRI system was used to guide an ablation probe into rabbit thigh muscle and acquire MR volumes after ablation. After fixation, we sliced and photographed the tissue at 3-mm intervals, using a specially designed apparatus, to obtain a volume of tissue images. Histologic samples were digitized using a video microscopy system. For our three-dimensional registration method, we used the tissue images as the reference, and registered histology and MR images to them using two different computer alignment steps. First, the MR volume was aligned to the volume of tissue images by registering needle fiducials placed near the tissue of interest. Second, we registered the histology images with the tissue images using a two-dimensional warping technique that aligned internal features and the outside boundary of histology and tissue images. RESULTS: The MR and histology images were very well aligned, and registration accuracy, determined from displacement of needle fiducials, was 1.32 +/- 0.39 mm (mean +/- SD), which compared favorably to the MR voxel dimensions (0.70 mm in-plane and 3.0 mm thick). A preliminary comparison of MR and tissue response showed that the region inside the elliptical hyperintense rim in MR closely corresponds to the region of necrosis as established by histology, with a mean absolute distance between MR and histology boundaries of 1.17 mm, slightly smaller than the mean registration error. The MR region slightly overestimated the region of necrosis, with a mean signed distance between boundaries of 0.85 mm. CONCLUSION: Our results suggest that our methodology can be used to achieve three-dimensional registration of histology and in vivo MR images. In MR lesion images, the inner border of the hyperintense region corresponds to the border of irreversible cell damage. This is good evidence that during RF ablation treatments, iMRI lesion images can be used for real-time feedback.     

Target definition and trajectory optimization for interactive MR-guided biopsies of brain tumors in an open configuration MRI system

We present an imaging strategy for planning and guiding brain biopsies in an open configuration MR system. Preprocedure imaging was performed in a 1.5-T MR system and was designed to provide, in a clinically efficient manner, high resolution anatomical and functional/physiologic information for precise definition and tissue characterization of the target, aiming at optimization of the biopsy trajectory for planning a safe and accurate procedure. The interventions were performed in a .5-T open bore magnet, and imaging was optimized to provide the imaging quality and temporal resolution necessary for performing the procedure interactively in near real time. Brain biopsies of 21 patients were performed in a 10-month period. Segmentation and surface rendering analysis of the lesions and vascular structures and dynamic MR perfusion and cortical activation studies provided an efficient and comprehensive way to appreciate the relationship of the target to surrounding vital structures, improved tissue characterization and definition of the tumor margins, and demonstrated the location of essential cortex, allowing appropriate placement of the burr hole and choice of optimal trajectory. Interactive protocols provided good visualization of the target and the interventional devices and offered the operator real-time feedback and control of the procedure. No complications were encountered. Advanced methods of image acquisition and processing for accurate planning of interventional brain procedures and interactive imaging with MR guidance render feasible the performance of safe and accurate neurointerventional procedures.     

System for MR image-guided prostate interventions: canine study

The purpose of this study was to demonstrate the use of a transrectal system that enables precise magnetic resonance (MR) image guidance and monitoring of prostate interventions. The system used a closed-bore 1.5-T MR imaging unit and enables one to take advantage of the higher signal-to-noise ratio achieved with traditional magnet designs, which is crucial for accurate targeting and monitoring of prostate interventions. In the first of the four canine studies, reliable needle placement, with all needles placed within 2 mm of the desired target site, was achieved. In two other studies, MR imaging was used to monitor distribution of injected contrast agent solution (gadopentetate dimeglumine mixed with trypan blue dye) in and around the prostate, thereby confirming that solution had been delivered to the desired tissue and also detecting faulty injections. In the final study, accurate placement and MR imaging of brachytherapy seeds in the prostate were demonstrated. The described system provides a flexible platform for a variety of minimally invasive MR image-guided therapeutic and diagnostic prostate interventions.     

A low-cost PCI-bus-based ultrasound system for use in image-guided neurosurgery.

A low-cost PCI-bus-based ultrasound sub-system has been developed and integrated into the image-guided neurosurgery system currently in use at the Cleveland Clinic. Two software applications have been developed that integrate real-time ultrasound images with preoperative MR and CT data sets. By tracking the position of the ultrasound probe during surgery, it is possible to display a real time ultrasound image and the corresponding (preoperative) oblique CT or MR slice. This provides immediate positional feedback to the neurosurgeon during the surgical procedure.     

Preliminary experience with MR-guided thermal ablation of brain tumors.

PURPOSETo evaluate the feasibility of a technique of MR-guided stereotactic radio frequency ablation, which was developed as a minimally invasive treatment for brain tumors, and to determine MR characteristics and sequential evolution of radio frequency lesions created to ablate brain tumors.METHODSFourteen lesions in 12 patients with primary and metastatic brain tumors were treated with this technique and followed for up to 10 months. The stereotactic coordinates of the tumor and the angle of the radio frequency probe were calculated on MR imaging. The radio frequency lesion was generated in the awake patient by increasing the temperature to 80 degrees C within the tumor for 1 minute. This was repeated until the entire tumor volume was destroyed. MR imaging was performed before, during, and immediately after the radio frequency procedure, and sequential MR was obtained during clinical follow-up.RESULTSMR imaging clearly showed well-defined radio frequency lesions and provided feedback for treatment planning. The radio frequency lesion boundary was well identified as a dark signal rim on T2-weighted images and showed ring enhancement on contrast-enhanced T1-weighted images. The sequential MR imaging showed the radio frequency lesions decreased in volume in all cases, suggesting focal control.CONCLUSIONStereotactic MR-guided radio frequency brain tumor ablation is a feasible and promising technique that can be an attractive brain tumor treatment alternative. MR provided not only accurate tumor location but also visualization of feedback of thermal tissue changes that reflected therapeutic effect.     

New assistive devices for MR-guided microwave thermocoagulation of liver tumors

RATIONALE AND OBJECTIVES: The purpose of this study was to develop and test new assistive devices to aid in the performance of safe, easy, and accurate microwave thermocoagulation therapy guided by magnetic resonance (MR) imaging. MATERIALS AND METHODS: An open-configuration MR imager with an optical tracking system for image plane control and a microwave coagulator operating at 2.45 GHz were used. Liver tumors were percutaneously punctured under the guidance of MR images and ablated. Handpiece adapters were then prepared for the optical tracking system. An MR-compatible endoscopic system also was used. Navigation software was installed and customized. These devices were combined to provide near-real-time MR image-guided navigation during thermocoagulation therapy for liver tumors. RESULTS: The handpiece adapters improved the flexibility of approaches for percutaneous puncture of tumors. The MR-compatible endoscope was used as a thoracoscope, and tumors just below the diaphragm were safely and easily punctured through the diaphragm. The customized navigation software displayed near-real-time MR images together with two reformatted images (on the same plane and on a perpendicular plane) from the registered high-resolution three-dimensional data, enabling accurate MR imaging navigation. CONCLUSION: These new assistive devices made it easier to perform safe, easy, and accurate MR-guided thermocoagulation therapy of liver tumors.     

Magnetic resonance imaging for hepatic radiofrequency ablation

Image-guided radiofrequency (RF) ablation is a minimally invasive therapy option in the treatment of primary and secondary hepatic malignancies. Magnetic resonance (MR) imaging offers an accurate pre-interventional imaging having important impact on patient selection and planning of the ablation procedure. Peri-interventional imaging is used for targeting, monitoring, and controlling of the ablation procedure. Due to a high soft-tissue contrast offering delineation of tumor tissue and the surrounding anatomy, coupled with multiplanar capabilities, MR imaging is an advantageous targeting technique compared with ultrasonography (US) or computed tomography (CT). MR imaging is sensitive to thermal effects enabling a monitoring of ablation therapy subsequently being supportive to control the ablation procedure. Therefore, MR imaging can fulfil the conditions for overlapping ablations by enabling a precise repositioning of the MR compatible RF applicator if required. Thus, the probability of achieving complete coagulation in larger tumors within a single therapy session is potentially increased. A monitoring of thermal effects is moreover essential in order to prevent unintended tissue damage from critical structures in the surrounding of the target tissue. Post-interventional imaging is performed to assess treatment response after RF ablation and has prognostic impact, as an early detection of treatment failure, e.g. residual tumor tissue, enables immediate therapy. Nevertheless, differential diagnostic difficulties arise from benign periablational enhancement which may cover tumor tissue. Hence, further evaluation and improvement in the assessment of treatment response is essential.     

MRI-guided celiac plexus block

Celiac plexus block is used as a palliative procedure in cases of severe upper abdominal pain caused by pancreatitis or tumors of the pancreas. It can be guided by bony landmarks, fluoroscopy, ultrasound (US), or computed tomography (CT). To avoid severe complications, methods visualizing soft tissue, like CT and magnetic resonance (MR) imaging, are preferable. We describe celiac plexus blocks carried out in an open MR scanner, offering needle guidance with an optical tracking system and near real-time image acquisition. Eight patients with severe chronic abdominal pain were included. In these, 14 celiac blocks were carried out. Good or total pain relief was achieved in 8 of the 14 blocks (57%), a moderate effect in 5 blocks (36%), and no effect in 1 block (7%). The placement of the needle was easily guided with MR in all cases. The MR technique ensures good visualization of soft tissue, direct monitoring of needle movement and avoids exposure to ionizing radiation. Celiac plexus block can safely be carried out in an open MR scanner.     

MR image-guided P-31 MR spectroscopy in the evaluation of brain tumor treatment

Magnetic resonance (MR) image-guided phosphorus-31 MR spectra have been obtained from in situ brain tumors. The volumes of interest used for spectroscopy were defined from hydrogen-1 MR images. Direct comparisons were possible between normal and abnormal tissue, since P-31 spectra from different parts of the brain could be measured in a single examination. P-31 MR spectra of the tumors often showed abnormally high concentrations of phosphomonoesters and low concentrations of phosphocreatines. The effects of pharmacotherapy and radiation therapy were studied in three patients; in each of these cases changes were observed in the P-31 spectra of the tumor. The correlation between MR imaging and P-31 MR spectroscopy was essential for the interpretations of these results.     

Virtobot 2.0: the future of automated surface documentation and CT-guided needle placement in forensic medicine

In this paper we present the second prototype of a robotic system to be used in forensic medicine. The system is capable of performing automated surface documentation using photogrammetry, optical surface scanning and image-guided, post-mortem needle placement for tissue sampling, liquid sampling, or the placement of guide wires. The upgraded system includes workflow optimizations, an automatic tool-change mechanism, a new software module for trajectory planning and a fully automatic computed tomography-data-set registration algorithm. We tested the placement accuracy of the system by using a needle phantom with radiopaque markers as targets. The system is routinely used for surface documentation and resulted in 24 surface documentations over the course of 11 months. We performed accuracy tests for needle placement using a biopsy phantom, and the Virtobot placed introducer needles with an accuracy of 1.4 mm (±0.9 mm). The second prototype of the Virtobot system is an upgrade of the first prototype but mainly focuses on streamlining the workflow and increasing the level of automation and also has an easier user interface. These upgrades make the Virtobot a potentially valuable tool for case documentation in a scalpel-free setting that uses purely imaging techniques and minimally invasive procedures and is the next step toward the future of virtual autopsy.     

Intraoperative MR imaging guidance for intracranial neurosurgery: experience with the first 200 cases

PURPOSE: To review preliminary experience with an open-bore magnetic resonance (MR) imaging system for guidance in intracranial surgical procedures. MATERIALS AND METHODS: A vertically oriented, open-configuration 0.5-T MR imager was housed in a sterile procedure room. Receive and transmit surface coils were wrapped around the patient's head, and images were displayed on monitors mounted in the gap of the magnet and visible to surgeons. During 2 years, 200 intracranial procedures were performed. RESULTS: There were 111 craniotomies, 68 biopsies, 12 intracranial cyst evaluations, four subdural drainages, and five transsphenoidal pituitary resections performed with the intraoperative MR unit. In each case, the intraoperative MR system yielded satisfactory results by allowing the radiologist to guide surgeons toward lesions and to assist in treatment. In two patients, hyperacute hemorrhage was noted and removed. The duration of the procedure and the complication rate were similar to those of conventional surgery. CONCLUSION: Intraoperative MR imaging was successfully implemented for a variety of intracranial procedures and provided continuous visual feedback, which can be helpful in all stages of neurosurgical intervention without affecting the duration of the procedure or the incidence of complications. This system has potential advantages over conventional frame-based and frameless stereotactic procedures with respect to the safety and effectiveness of neurosurgical interventions.     

Experimental MR imaging-guided interstitial cryotherapy of the brain

BACKGROUND AND PURPOSE: Hyperthermal ablation techniques such as laser or RF ablation require dedicated heat-sensitive MR imaging sequences for monitoring MR imaging--guided interventions. Because cryotherapy does not have these limitations, the purpose of this study was to evaluate the feasibility of MR imaging--guided percutaneous cryotherapy of the brain. METHODS: An experimental cryoprobe with an outer diameter of 2.7 mm was inserted into the right frontal lobe of 11 healthy pigs under MR imaging control. Freezing procedures were monitored by using an interventional 1.5-T magnet and a gradient-echo sequence with radial k-space trajectories, a fast T2-weighted single-shot spin-echo sequence, and a T1-weighted single-shot gradient-echo sequence. In three animals, the procedure was also monitored by using dynamic CT. A freeze-thaw cycle with a duration of 3 minutes was repeated three times per animal. Follow-up MR images were obtained 3, 7, and 14 days after cryotherapy by using conventional MR sequences. Six animals were killed 7 days after intervention, and five animals were killed 14 days after intervention. The brains were sectioned, and the histologic findings of the lesions were compared with the MR imaging appearance. RESULTS: No artifacts due to the probe were observed on the MR images or CT scans. The ice formation (mean diameter, 12.5 mm) was very well delineated as a signal-free sphere. MR monitoring of the freezing procedure yielded a significantly higher ice:tissue contrast than did CT. The size of the ice ball as imaged by MR imaging and CT during the intervention correlated well with the MR imaging appearance of the lesions at the 14-day follow-up examination and with the histologic findings. Histologically, coagulation necrosis and gliosis were found, surrounded by a transition zone of edema and a disrupted blood-brain barrier, corresponding to a contrast-enhancing rim around the lesions on follow-up MR images. CONCLUSION: MR imaging-guided cryotherapy of the brain is possible and allows a precise prediction of the resulting necrosis. MR imaging of the freezing process does not require heat-sensitive sequences and is superior to CT for monitoring of cryoablation.     

Bildgestützte Strahlentherapie

CLINICAL ISSUE: The introduction of image-guided radiotherapy (IGRT) has changed the workflow in radiation oncology more dramatically than any other innovation in the last decades. STANDARD TREATMENT: Imaging for treatment planning before the initiation of the radiotherapy series does not take alterations in patient anatomy and organ movement into account. TREATMENT INNOVATIONS: The principle of IGRT is the temporal and spatial connection of imaging in the treatment position immediately before radiation treatment. DIAGNOSTIC ASSESSMENT: The actual position and the target position are compared using cone-beam computed tomography (CT) or stereotactic ultrasound. PERFORMANCE: The IGRT procedure allows a reduction of the safety margins and dose to normal tissue without an increase in risk of local recurrence. ACHIEVEMENTS: In the future the linear treatment chain in radiation oncology will be developed based on the closed-loop feedback principle. PRACTICAL RECOMMENDATIONS: The IGRT procedure is increasingly being used especially for high precision radiotherapy, e.g. for prostate or brain tumors.     

Rapid MR‐ARFI method for focal spot localization during focused ultrasound therapy

MR‐guided focused ultrasound (FUS) is a noninvasive therapy for treating various pathologies. MR‐based acoustic radiation force imaging (MR‐ARFI) measures tissue displacement in the focal spot due to acoustic radiation force. MR‐ARFI also provides feedback for adaptive focusing algorithms that could correct for phase aberrations caused by the skull during brain treatments. This work developed a single‐shot echo‐planar imaging–based MR‐ARFI method that reduces scan time and ultrasound energy deposition. The new method was implemented and tested in a phantom and ex vivo brain tissue. The effect of the phase aberrations on the ultrasound focusing was studied using displacement maps obtained with echo‐planar imaging and two‐dimensional spin‐warp MR‐ARFI. The results show that displacement in the focal spot can be rapidly imaged using echo‐planar imaging–based MR‐ARFI with high signal‐to‐noise ratio efficiency and without any measurable tissue heating. Echo‐planar imaging–based displacement images also demonstrate sufficient sensitivity to phase aberrations and can serve as rapid feedback for adaptive focusing in brain treatments and other applications. Magn Reson Med, 2011. © 2010 Wiley‐Liss, Inc.