2011 Winter Project Week:Intra-ProceduralProstateMotion

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  • Patient configuration for transperineal prostate biopsy in closed bore MRI

  • Patient configuration for transrectal prostate biopsy in closed bore MRI

  • Motion of the pelvis and prostate gland over the first 30 minutes of MR-guided transperineal biopsy procedure.

  • Sagittal view of a transrectal MR-guided transrectal biopsy procedure.

Key Investigators

  • BWH: Andrey Fedorov
  • Queens University: Andras Lasso

Objective

Multi-parametric diagnostic MRI was shown to be important in localization of prostate cancer. MR-guided prostate cancer biopsy (using transperineal access at BWH, transrectal access at Queen's clinical partners) performed in the closed bore MR scanner relies on image registration between the intra-procedural configuration of the prostate gland and the pre-procedural diagnostic MRI to locate the suspected cancer regions and guide the biopsy sample collection. Intra-operative image acquisition includes a volumetric scan of the whole prostate gland in the beginning of the procedure, followed by single-slice (or few orthogonal slices) acquisitions throughout the procedure with the purpose of confirming biopsy needle location. In the current image processing workflow, the diagnostic MRI is registered with the initial intra-procedural MRI.

One of the challenges we are facing is the motion and deformation of the prostate gland during the course of the procedure, which is typically ~1 hour long. Significant patient motion may invalidate the result of the initial pre- to intra-procedural MRI registration.

Our objective is to develop robust image acquisition and registration protocols to detect and compensate for the intra-procedural prostate motion/deformation, preferably using single-slice acquisitions throughout the procedure.

Approach, Plan

  • evaluate and compare the solutions developed at BWH and Queens for volume-to-slice registration on the common data
  • seek input from NA-MIC registration experts on the design of the registration approach
  • discuss the high-level approach and plans for integrating volume-to-slice registration functionality into ProstateNav Slicer module
  • discuss with Slicer engineering core plans and challenges in improving support for deformable transformations in 3D Slcer

Experimental setup:

  1. compare performance of the sparse volume registration tools, and correlate with the full volume registration results; this experiment will be done (1) between the volume obtained in the beginning of the procedure and needle conf volume and (2) between two needle confirmation volumes both for TR and TP Bx approaches for two patients.
  • Experiment 1: full volume registration (using Fast Rigid Registration or slice to volume registration)
  • Experiment 2: sparse volume registration by masking individual slices in the full volume: single slice, orthogonal slices
  • Experiment 3: sparse volume registration with sparse volume reconstructed from 3 orthogonal slices of the comparable resolution
  • Comparison metrics: difference wrt the transform obtained in Exp. 1, execution time


Dissemination

http://viewvc.slicer.org/viewcvs.cgi/trunk/SLC2011-ProstateRegistration/?root=NAMICSandBox

Software

Data

  • TR01: 20101021_PMH
    • Not much patient motion (about 1-2mm)
  • TR02: 20100721_JHU
    • Large (abour 3-5mm) patient motion between T2 and needle confirmation image
    • Small patient motion between needle confirmation images
    • Registration doesn't work with 1 slice (it gives identity matrix as a result): joint PDF cannot be computed
    • Registration does work with 3 slices
  • TR03: 20101216_NIH
    • Slight rotation between T2 and needle confirmation image
    • Negligible patient motion between needle confirmation images
    • DoRegistration doesn't work with 1 slice (it gives identity matrix as a result): Optimizer stop condition: VersorRigid3DTransformOptimizer: Gradient magnitude tolerance met after 0 iterations. Gradient magnitude (0) is less than gradient magnitude tolerance (0.0001).
    • Registration does work with 3 slices
  • TP09: Case009
  • TP10: Case010
  • TP11: Case011

References

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