Apparatus and method for registration, guidance and targeting of external beam radiation therapy

• US 7,438,685 B2
• Filed: 11/01/2002
• Issued: 10/21/2008
• Est. Priority Date: 11/05/2001
• Status: Active Grant

• Current Assignee: IMPAC Medical Systems, Inc. (Elekta AB)
• Original Assignee: Computerized Medical Systems, Inc. (Elekta AB)
• Inventors: Burdette, Everette C., Deardorff, Dana L.
• Primary Examiner(s): CASLER, BRIAN L
• Application Number:
  US10/286,368
• Publication Number:
  US 20030112922A1
• Time in Patent Office: 2,181 Days
• Field of Search: 600/437, 600/439, 600/443, 600/447, 600462-463, 600/471, 600 1- 3, 600 6- 8, 128/916, 378/65, 378 68- 69
• US Class Current: 600/439
• CPC Class Codes: A61B 2017/00274 Prostate operation, e.g. prostatectomy, turp, bhp treatment
• CPC Class Codes: A61B 2017/3413 guided by ultrasound
• CPC Class Codes: A61B 2018/00547 Prostate
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2090/101 for stereotaxic radiosurgery
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/367 creating a 3D dataset from 2D images using position information
• CPC Class Codes: A61B 2090/374 NMR or MRI
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 6/00 Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment instruments measuring radiation intensity for application in the field of nuclear medicine, e.g. in vivo counting, G01T1/161; apparatus for taking X-ray photographs G03B42/02
• CPC Class Codes: A61B 6/03 Computed tomography [CT] echo-tomography A61B8/14
• CPC Class Codes: A61B 6/5247 combining images from an ionising-radiation diagnostic technique and a non-ionising radiation diagnostic technique, e.g. X-ray and ultrasound
• CPC Class Codes: A61B 8/08 Detecting organic movements or changes, e.g. tumours, cysts, swellings A61B8/02 - A61B8/06 take precedence
• CPC Class Codes: A61B 8/12 in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00
• CPC Class Codes: A61B 8/4245 involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
• CPC Class Codes: A61B 8/4263 using sensors not mounted on the probe, e.g. mounted on an external reference frame
• CPC Class Codes: A61B 8/463 : characterised by displaying multiple images or images and diagnostic data on one display composite display in devices for short-range imaging with acoustic waves G01S7/52074
• CPC Class Codes: A61B 8/5238 : for combining image data of patient, e.g. merging several images from different acquisition modes into one image for image registration algorithms G06T7/30
• CPC Class Codes: A61N 2005/1058 : using ultrasound imaging
• CPC Class Codes: A61N 5/103 : Treatment planning systems

Abstract

An improved system and method for optimizing the planning, registration, targeting, and delivery of conformal, external beam radiation therapy of prostate cancer and other soft-tissue diseases. Real-time ultrasound imaging during planning and treatment is used forlocalization of soft tissue treatment targets and fused with radiographic or CT data for conformal treatment optimization. The fusion technique provides accurate localization of the prostate volume in real time. For treatment of prostate cancer, visualization of the prostate gland is achieved using transrectal ultrasonography and the fusion of that image in the precise location of the prostate within the pelvic region, accurately determining the location of the prostate target by transformation of the ultrasound image data on both the ultrasound and X-ray/CT images. The radiation field may be optimized to significantly reduce the volume of irradiated normal tissue, minimizing the exposure of the surrounding healthy tissues and increasing dosage delivered to the prostate treatment target.

Claims

1. A system for creating fused images for use in targeting external beam radiation therapy comprising:

an ultrasound probe configured to produce ultrasound images of a proposed treatment region;

a probe locator system configured to locate the position of the ultrasound probe, wherein the probe locator system comprises a frameless spatial registration system, and wherein the frameless spatial registration system comprises an emitter and sensor system;

a computer system connected to the probe locator system and ultrasound probe, said computer system having a software program configured to spatially register the ultrasound images according to the located probe position and fuse the spatially registered ultrasound images with either radiographic images of the proposed treatment region or a treatment planning image;

a ring collar within which the ultrasound probe is disposed, and wherein the emitter and sensor system comprises a plurality of LEDs attached to the ring collar and at least one camera for detecting the three-dimensional position of the LEDs relative to the treatment region;

wherein said computer system further comprises treatment planning software for defining a treatment beam based at least in part upon a position of a desired target volume in the treatment region, the position being determinable within a fused image generated during a treatment planning session;

wherein the fused image generated during the treatment planning session is a volumetric representation of the treatment region; and

wherein the treatment planning software is further configured to (1) display the volumetric image and (2) contour the target volume in response to user input.

2. The system of claim 1 further comprising a treatment device in communication with the computer system for delivering external beam radiation therapy to the target volume at least partially in accordance with the defined treatment beam.

3. The system of claim 2, wherein the target volume is a patient'"'"'s prostate.

4. The system of claim 2, wherein the treatment device is a linear accelerator (LINAC).

5. The system of claim 2, wherein the computer system further comprises software for displaying a superimposed image of the treatment beam defined by the treatment planning software over a fused image of the treatment region generated during a treatment delivery session, to thereby allow a determination of whether any movement of the target volume from the time of the treatment planning session necessitates a modification of either the patient'"'"'s position or the treatment beam.

6. The system of claim 5 wherein the computer system further comprises software for modifying the treatment beam at least partially in accordance with the position of target volume as determined from the fused image generated during the treatment delivery session.

7. The system of claim 5, wherein the fused image generated during the treatment delivery session is a volumetric representation of the treatment region.

8. The system of claim 7, wherein the computer system further comprises software for generating and displaying the fused image generated during the treatment delivery session in real-time.

9. The system of claim 1, wherein the treatment planning software is further configured to define the treatment beam such that it is targeted on the contoured target volume.

10. The system of claim 1, wherein the ultrasound probe is a freehand ultrasound probe.

11. The system of claim 10, wherein the freehand ultrasound probe is a transrectal freehand ultrasound probe.

12. The system of claim 1, wherein the computer system is configured to import a radiation therapy treatment plan from another computer, wherein the plan comprises a plurality of spatially registered images of the treatment region that were generated during a treatment planning session.

13. The system of claim 12 wherein the plan further comprises a treatment beam definition for targeting a treatment beam on a target volume shown in the plan'"'"'s spatially registered images.

14. A method of creating a spatially registered fused image of a target volume within a treatment region inside a patient for planning an external beam radiation therapy treatment session, the method comprising:

generating a plurality of ultrasound images of the target volume using a transrectal ultrasound probe that has been inserted into the patient'"'"'s rectum;

spatially registering the ultrasound images relative to a known coordinate system;

generating a three-dimensional representation of the target volume from the spatially registered ultrasound images;

generating at least one simulation image of the treatment region while the transrectal ultrasound probe is still inserted in the patient'"'"'s rectum, the simulation image having a known position and orientation relative to the coordinate system;

fusing the three-dimensional target volume representation with the at least one simulation image such that the three-dimensional target volume representation and the at least one simulation image are both spatially registered relative to a common point of reference; and

graphically displaying the fused image of the three-dimensional target volume representation and the at least one simulation image.

15. The method of claim 14, wherein the common point of reference comprises a treatment isocenter of an external radiation treatment beam, the method further comprising:

defining, via user input, the treatment beam targeted to the treatment isocenter; and

graphically displaying the defined treatment beam such that it is superimposed over the fused image.

16. The method of claim 15 further comprising three-dimensionally contouring the target volume within the fused images in response to user input through the graphically displayed fused image to create a three-dimensional contour of the target volume.

17. The method of claim 16 further comprising:

generating and graphically displaying a real-time three dimensional representation of the target volume from the images acquired by the inserted transrectal ultrasound probe;

spatially registering the real-time three dimensional target volume representation relative to the treatment isocenter; and

superimposing the three-dimensional target volume contour over the real-time three dimensional target volume representation such that both are spatially registered relative to the treatment isocenter.

18. The method of claim 17, wherein the generating and graphically display step comprises:

fusing the at least one simulation image with the generated real-time three dimensional target volume representation, thereby creating a fusion of the generated real-time three dimensional target volume representation and the at least one simulation image; and

graphically displaying the fusion of the generated real-time three dimensional target volume representation and the at least one simulation image; and

wherein the superimposing step comprises superimposing the three-dimensional target volume contour over the fusion of the real-time three dimensional target volume representation and the at least one simulation image such that both are spatially registered relative to the treatment isocenter.

19. The method of claim 18 wherein the at least one simulation image comprises at least one selected from the group consisting of an X-ray image and a computed tomography (CT) image.

20. The method of claim 17 further comprising:

adjusting a position of the patient if the graphically displaying step and the superimposing step reveals a misalignment between the target volume in the real-time three dimensional target volume representation and the target volume in the three-dimensional target volume contour.

21. The method of claim 17 further comprising:

superimposing the defined treatment beam over the three-dimensional target volume contour and the real-time three dimensional target volume representation such that the defined treatment beam, the three-dimensional target volume contour, and the real-time three dimensional target volume representation are all spatially registered relative to the treatment isocenter.

22. The method of claim 17 further comprising:

delivering a treatment beam in accordance with the defined treatment beam to the target volume while the transrectal ultrasound probe is still inserted in the patient'"'"'s rectum.

23. The method of claim 22 wherein the transrectal ultrasound probe comprises a freehand transrectal ultrasound probe.

24. The method of claim 22 wherein the transrectal ultrasound probe comprises a transrectal ultrasound probe that is attached to a spatially-encoded localizer arm.

25. The method of claim 15, wherein the beam defining step comprises defining a treatment beam isocenter that is targeted on the target volume.

26. The method of claim 25, wherein the beam defining step further comprises defining treatment beam geometry data.

27. The method of claim 26, wherein the beam defining step further comprises defining a beam energy amount.

28. The method of claim 26, wherein the beam defining step further comprises defining a shield block for the treatment beam.

29. The method of claim 28 wherein the shield block defining step comprises defining a margin for the shield block.

30. The method of claim 26 further comprising storing the treatment beam definitions for subsequent retrieval during a treatment delivery session.

31. The method of claim 26 wherein the beam defining step further comprises defining whether the treatment beam is to be symmetric about the treatment isocenter.

32. The method of claim 15, wherein the target volume is a patient'"'"'s prostate.

33. The method of claim 14 further comprising storing the fused images for subsequent retrieval during a treatment delivery session.

34. The method of claim 14, wherein the ultrasound image generating step comprises generating the plurality of ultrasound images of the target volume using the inserted transrectal ultrasound probe at any arbitrary position in space, and wherein the three-dimensional target volume representation generating step comprises generating the three-dimensional target volume representation from the spatially registered ultrasound images acquired by the inserted transrectal ultrasound probe at any arbitrary position in space.

35. The method of claim 34, wherein the three-dimensional target volume representation generating step comprises generating the three-dimensional target volume representation not from ultrasound images within a stack of parallel images of the target volume nor from a series ultrasound images of the target volume that were acquired by the inserted transrectal ultrasound probe via an angular sweep.

36. An external beam radiation therapy system for planning and delivering external beam radiation treatment for a target volume that resides within a treatment region inside a patient, the patient residing in a treatment coordinate system, the system comprising:

an imaging device for generating a plurality of images of the target volume;

a localization system associated with the imaging device that locates the imaging device within the coordinate system; and

a computer that executes software programmed to (1) spatially register the images relative to a point of reference within the coordinate system on the basis of data provided by the localization system, (2) generate a three-dimensional representation of the target volume from the spatially registered images, (3) retrieve at least one stored treatment planning simulation image of the treatment region, wherein the treatment planning simulation image is also spatially registered relative to a point of reference within the coordinate system, (4) fuse the three-dimensional target volume representation with the treatment planning simulation image, and (5) graphically display the fused image such that the three-dimensional target volume representation is superimposed over the treatment region depicted in the treatment planning simulation image in a manner such that both the target volume representation and the treatment region are spatially registered relative to a common reference point within the coordinate system.

37. The system of claim 36 wherein the common point of reference within the coordinate system comprises a treatment isocenter of an external radiation beam.

38. The system of claim 37, wherein the imaging device comprises a transrectal ultrasound probe.

39. The system of claim 38, wherein the target volume comprises a patient'"'"'s prostate.

40. The system of claim 39 wherein the computer is further programmed to three-dimensionally contour the patient'"'"'s prostate volume from the graphically displayed fused image in response to user input.

41. The system of claim 40 wherein the computer is further programmed to (1) define a planned beam profile for the external radiation beam in response to user input through the graphically displayed fused image, and (2) graphically depict the defined planned beam profile superimposed over the fused image such that the defined planned beam profile is also spatially registered relative to the treatment isocenter.

42. The system of claim 41 further comprising an external beam radiation therapy treatment device in communication with the computer, the treatment device having a coordinate system within which it can deliver a targeted radiation beam centered about the treatment isocenter in accordance with the defined planned beam profile.

43. The system of claim 42, wherein the computer is further programmed to graphically display a real-time three-dimensional digitally reconstructed ultrasound volume of the prostate, and wherein the three-dimensional contour and the defined planned beam profile are superimposed over the real-time three-dimensional digitally reconstructed ultrasound prostate volume such that the real-time three-dimensional digitally reconstructed ultrasound prostate volume, the three-dimensional contour, and the defined planned beam profile are all spatially registered relative to the treatment isocenter.

44. The system of claim 43, wherein the computer is further programmed to graphically display the real-time three-dimensional digitally reconstructed ultrasound prostate volume by fusing it with the at least one treatment planning simulation image such that a fusion of the real-time three-dimensional digitally reconstructed ultrasound prostate volume and the at least one treatment planning simulation image is graphically displayed.

45. The system of claim 41 wherein the computer is further programmed to accept user input for the planned beam profile corresponding to a size constraint for the beam.

46. The system of claim 41 wherein the computer is further programmed to accept user input for the planned beam profile corresponding to whether the beam is to be symmetric about the treatment isocenter.

47. The system of claim 41 wherein the computer is further programmed to accept user input for the planned beam profile corresponding to a block on a treatment field provided by the planned beam profile.

48. The system of claim 47 wherein the computer is further programmed to accept user input corresponding to a margin for the block.

49. The system of claim 41 wherein the computer is further programmed to accept user inputs for the planned beam profile corresponding to a size constraint for the beam, corresponding to whether the beam is to be symmetric about the treatment isocenter, and corresponding to a block on a treatment field provided by the planned beam profile.

50. The system of claim 41 wherein the computer is further programmed to graphically display the defined planned beam profile such that it is also superimposed over the three-dimensional contour and the fused image.

51. The system of claim 38, wherein the localization system comprises a frameless localization system.

52. The system of claim 51, wherein the frameless localization system comprises an emitter and sensor localization system.

53. The system of claim 51, wherein the frameless localization system comprises an optical localization system.

54. The system of claim 38, wherein the transrectal ultrasound probe comprises a freehand transrectal ultrasound probe.

55. The system of claim 36, wherein the at least one treatment planning simulation image comprises an X-ray image.

56. The system of claim 36, wherein the at least one treatment planning simulation image comprises a computed tomography (CT) image.

57. The system of claim 36, wherein the computer is further programmed to generate the three-dimensional representation of the target volume from the spatially registered images using spatially registered images of the target volume that were acquired by the imaging device at any arbitrary position in space within the treatment coordinate system.

58. The system of claim 57, wherein the computer is further programmed not to generate the three-dimensional representation of the target volume from the spatially registered images using a stack of parallel images of the target volume that were acquired by the imaging device.

59. The system of claim 57, wherein the computer is further programmed not to generate the three-dimensional representation of the target volume from the spatially registered images using a series images of the target volume that were acquired by the imaging device via an angular sweep.