{"id":2888,"date":"2021-11-15T14:20:03","date_gmt":"2021-11-15T13:20:03","guid":{"rendered":"http:\/\/www.m2olie.de\/publications\/multiple-direction-needle-path-planning-and-inverse-dose-optimization-for-robotic-low-dose-rate-brachytherapy\/"},"modified":"2021-11-15T14:22:13","modified_gmt":"2021-11-15T13:22:13","slug":"multiple-direction-needle-path-planning-and-inverse-dose-optimization-for-robotic-low-dose-rate-brachytherapy","status":"publish","type":"publications","link":"https:\/\/www.m2olie.de\/en\/publications\/multiple-direction-needle-path-planning-and-inverse-dose-optimization-for-robotic-low-dose-rate-brachytherapy\/","title":{"rendered":"Multiple direction needle-path planning and inverse dose optimization for robotic low-dose rate brachytherapy"},"content":{"rendered":"\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/pubmed.ncbi.nlm.nih.gov\/?term=Aum%C3%BCller+P&amp;cauthor_id=34373188\">Philipp Aum\u00fcller<\/a>,\u00a0<a href=\"https:\/\/pubmed.ncbi.nlm.nih.gov\/?term=Rothfuss+A&amp;cauthor_id=34373188\">Andreas Rothfuss<\/a>,\u00a0<a href=\"https:\/\/pubmed.ncbi.nlm.nih.gov\/?term=Polednik+M&amp;cauthor_id=34373188\">Martin Polednik<\/a>,\u00a0<a href=\"https:\/\/pubmed.ncbi.nlm.nih.gov\/?term=Abo-Madyan+Y&amp;cauthor_id=34373188\">Yasser Abo-Madyan<\/a>,\u00a0<a href=\"https:\/\/pubmed.ncbi.nlm.nih.gov\/?term=Ehmann+M&amp;cauthor_id=34373188\">Michael Ehmann<\/a>,\u00a0<a href=\"https:\/\/pubmed.ncbi.nlm.nih.gov\/?term=Giordano+FA&amp;cauthor_id=34373188\">Frank A Giordano<\/a>,\u00a0<a href=\"https:\/\/pubmed.ncbi.nlm.nih.gov\/?term=Clausen+S&amp;cauthor_id=34373188\">Sven Clausen<\/a><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Z Med Phys. 2021 Aug 6;S0939-3889(21)00061-1. doi: <a rel=\"noreferrer noopener\" target=\"_blank\" href=\"https:\/\/doi.org\/10.1016\/j.zemedi.2021.06.003\">10.1016\/j.zemedi.2021.06.003<\/a> Online ahead of print.<\/p>\n\n\n\n<ul class=\"wp-block-list\"><li>PMID: <strong>34373188<\/strong><\/li><li>DOI: <a target=\"_blank\" rel=\"noreferrer noopener\" href=\"https:\/\/doi.org\/10.1016\/j.zemedi.2021.06.003\">10.1016\/j.zemedi.2021.06.003<\/a><\/li><\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">Abstract<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>Purpose:<\/strong> Robotic systems to assist needle placements for low-dose rate brachytherapy enable conformal dose planning only restricted to path planning around risk structures. We report a treatment planning system (TPS) combining multiple direction needle-path planning with inverse dose optimization algorithms.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>Methods:<\/strong> We investigated in a path planning algorithm to efficiently locate needle injection points reaching the target volume without puncturing risk structures. A candidate needle domain with all combinations of trajectories is used for the optimization process. We report a modular algorithm for inverse radiation plan optimization. The initial plan with V100&gt;99% is generated by the &#8220;greedy optimizer&#8221;. The &#8220;remove-seed algorithm&#8221; reduces the number of seeds in the high dose regions. The &#8220;depth-optimizer&#8221; varies the insertion depth of the needles. The &#8220;coverage-optimizer&#8221; locates under-dosed areas in the target volume and supports them with an additional amount of seeds. The dose calculation algorithm is benchmarked on an image set of a phantom with a liver metastasis (prescription dose D<sub>pr<\/sub>=100Gy) and is re-planned in a commercial CE-marked TPS to compare the calculated dose grids using a global gamma analysis. The inverse optimizer is benchmarked by calculating 10 plans on the same phantom to investigate the stability and statistical variability of the dose parameters.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>Results:<\/strong> The path planning algorithm efficiently removes 72.5% of all considered injection points. The candidate needle domain consists of combinations of 1971 tip points and 827 injection points. The global gamma analysis with gamma 1%=2.9Gy, 1mm showed a pass rate of 98.5%. The dose parameters were V100=99.1\u00b10.3%, V150=76.4\u00b12.5%, V200=44.5\u00b15.5% and D90=125.9\u00b13.6Gy and 10.7\u00b11.3 needles with 34.0\u00b10.8 seeds were used. The median of the TPS total running time was 4.4minutes.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>Conclusions:<\/strong> The TPS generates treatment plans with acceptable dose coverage in a reasonable amount of time. The gamma analysis shows good accordance to the commercial TPS. The TPS allows taking full advantage of robotic navigation tools to enable a new precise and safe method of minimally invasive low-dose-rate brachytherapy.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>Keywords:<\/strong> Brachytherapy; Inverse optimization; LDR; Path planning; Robotic; Seeds.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Copyright \u00a9 2021. Published by Elsevier GmbH.<\/p>\n","protected":false},"featured_media":0,"comment_status":"open","ping_status":"closed","template":"","meta":{"footnotes":""},"categories":[],"class_list":["post-2888","publications","type-publications","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/www.m2olie.de\/en\/wp-json\/wp\/v2\/publications\/2888","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.m2olie.de\/en\/wp-json\/wp\/v2\/publications"}],"about":[{"href":"https:\/\/www.m2olie.de\/en\/wp-json\/wp\/v2\/types\/publications"}],"replies":[{"embeddable":true,"href":"https:\/\/www.m2olie.de\/en\/wp-json\/wp\/v2\/comments?post=2888"}],"version-history":[{"count":3,"href":"https:\/\/www.m2olie.de\/en\/wp-json\/wp\/v2\/publications\/2888\/revisions"}],"predecessor-version":[{"id":2894,"href":"https:\/\/www.m2olie.de\/en\/wp-json\/wp\/v2\/publications\/2888\/revisions\/2894"}],"wp:attachment":[{"href":"https:\/\/www.m2olie.de\/en\/wp-json\/wp\/v2\/media?parent=2888"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.m2olie.de\/en\/wp-json\/wp\/v2\/categories?post=2888"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}