Thermal Ablation of Liver Tumors Guided by Augmented Reality: An Initial Clinical Experience.

Background: Over the last two decades, augmented reality (AR) has been used as a visualization tool in many medical fields in order to increase precision, limit the radiation dose, and decrease the variability among operators. Here, we report the first in vivo study of a novel AR system for the guidance of percutaneous interventional oncology procedures. Methods: Eight patients with 15 liver tumors (0.7−3.0 cm, mean 1.56 + 0.55) underwent percutaneous thermal ablations using AR guidance (i.e., the Endosight system). Prior to the intervention, the patients were evaluated with US and CT. The targeted nodules were segmented and three-dimensionally (3D) reconstructed from CT images, and the probe trajectory to the target was defined. The procedures were guided solely by AR, with the position of the probe tip was subsequently confirmed by conventional imaging. The primary endpoints were the targeting accuracy, the system setup time, and targeting time (i.e., from the target visualization to the correct needle insertion). The technical success was also evaluated and validated by co-registration software. Upon completion, the operators were assessed for cybersickness or other symptoms related to the use of AR. Results: Rapid system setup and procedural targeting times were noted (mean 14.3 min; 12.0−17.2 min; 4.3 min, 3.2−5.7 min, mean, respectively). The high targeting accuracy (3.4 mm; 2.6−4.2 mm, mean) was accompanied by technical success in all 15 lesions (i.e., the complete ablation of the tumor and 13/15 lesions with a >90% 5-mm periablational margin). No intra/periprocedural complications or operator cybersickness were observed. Conclusions: AR guidance is highly accurate, and allows for the confident performance of percutaneous thermal ablations.

Volumetric assessment of the periablational safety margin after thermal ablation of colorectal liver metastases.

OBJECTIVES: To retrospectively assess the periablational 3D safety margin in patients with colorectal liver metastases (CRLM) referred for stereotactic radiofrequency ablation (RFA) and to evaluate its influence on local treatment success. METHODS: Forty-five patients (31 males; mean age 64.5 [range 31-87 years]) with 76 CRLM were treated with stereotactic RFA and retrospectively analyzed. Image fusion of pre- and post-interventional contrast-enhanced CT scans using a non-rigid registration software enabled a retrospective assessment of the percentage of predetermined periablational 3D safety margin and CRLM successfully ablated. Periablational safety zones (1-10 mm) and percentage of periablational zone ablated were calculated, analyzed, and compared with subsequent tumor growth to determine an optimal safety margin predictive of local treatment success. RESULTS: Mean overall follow-up was 36.1 ± 18.5 months. Nine of 76 CRLMs (11.8%) developed local tumor progression (LTP) with mean time to LTP of 18.3 ± 11.9 months. Overall 1-, 2-, and 3-year cumulative LTP-free survival rates were 98.7%, 90.6%, and 88.6%, respectively. The periablational safety margin assessment proved to be the only independent predictor (p < 0.001) of LTP for all calculated safety margins. The smallest safety margin 100% ablated displaying no LTP was 3 mm, and at least 90% of a 6-mm circumscribed 3D safety margin was required to achieve complete ablation. CONCLUSIONS: Volumetric assessment of the periablational safety margin can be used as an intraprocedural tool to evaluate local treatment success in patients with CRLM referred to stereotactic RFA. Ablations achieving 100% 3D safety margin of 3 mm and at least 90% 3D safety margin of 6 mm can predict treatment success. KEY POINTS: • Volumetric assessment of the periablational safety margin can be used as an intraprocedural tool to evaluate local treatment success following thermal ablation of colorectal liver metastases. • Ablations with 100% 3D periablational safety margin of 3 mm and ablations with at least 90% 3D safety margin of 6 mm can be considered indications of treatment success. • Image fusion of pre- and post-interventional CT scans with the software used in this study is feasible and could represent a useful tool in daily clinical practice.

A novel software platform for volumetric assessment of ablation completeness.

PURPOSE: To retrospectively evaluate the accuracy of a novel software platform for assessing completeness of percutaneous thermal ablations. MATERIALS & METHODS: Ninety hepatocellular carcinomas (HCCs) in 50 patients receiving percutaneous ultrasound-guided microwave ablation (MWA) that resulted in apparent technical success at 24-h post-ablation computed tomography (CT) and with ≥1-year imaging follow-up were randomly selected from a 320 HCC ablation database (2010-2016). Using a novel volumetric registration software, pre-ablation CT volumes of the HCCs without and with the addition of a 5 mm safety margin, and corresponding post-ablation necrosis volumes were segmented, co-registered and overlapped. These were compared to visual side-by-side inspection of axial images. RESULTS: At 1-year follow-up, CT showed absence of local tumor progression (LTP) in 69/90 (76.7%) cases and LTP in 21/90 (23.3%). For HCCs classified by the software as "incomplete tumor treatments", LTP developed in 13/17 (76.5%) and all 13 (100%) of these LTPs occurred exactly where residual non-ablated tumor was identified by retrospective software analysis. HCCs classified as "complete ablation with <100% 5 mm ablative margins" had LTP in 8/49 (16.3%), while none of 24 HCCs with "complete ablation including 100% 5 mm ablative margins" had LTP. Differences in LTP between both partially ablated HCCs vs completely ablated HCCs, and ablated HCCs with <100% vs with 100% 5 mm margins were statistically significant (p < .0001 and p = .036, respectively). Thus, 13/21 (61.9%) incomplete tumor treatments could have been detected immediately, were the software available at the time of ablation. CONCLUSIONS: A novel software platform for volumetric assessment of ablation completeness may increase the detection of incompletely ablated tumors, thereby holding the potential to avoid subsequent recurrences.

Augmented reality for interventional oncology: proof-of-concept study of a novel high-end guidance system platform.

BACKGROUND: To assess the feasibility of a novel system that uses augmented reality to guide interventional oncology procedures. METHODS: This study was conducted in accordance to the guidelines of the local institutional review boards. Evaluation of an augmented reality system based upon a tablet, a needle handle and a set of markers was performed in three experimental models. Initially, a male anthropomorphic trunk phantom equipped with five polyvinyl chloride bars (two of 16 cm in length and 3 cm in diameter and four of 45, 30 or 20 cm in length and 2 cm in diameter) was used to study the accuracy of the system without respiratory motion or tissue compression. Next, small metallic targets were placed in a porcine model to evaluate how respiration affects the system accuracy. Finally, the performance of the system on a more complete model, a cadaver with liver metastasis, was tested. RESULTS: In all experimental settings, extremely high targeting accuracy of < 5 mm in all cases was achieved: 2.0 ± 1.5 mm (mean ± standard deviation) for the anthropomorphic model, 3.9 ± 0.4 mm for the porcine model, and 2.5 mm and 2.8 mm for the two metastases in the cadaver model. CONCLUSIONS: Augmented reality can assist with needle guidance with great target accuracy for interventional procedures by simultaneously visualising three-dimensional reconstructed anatomical structures, tumour targets and interventional devices on a patient's body, enabling performance of procedures in a simple and confident way.

A Novel CT to Cone-Beam CT Registration Method Enables Immediate Real-Time Intraprocedural Three-Dimensional Assessment of Ablative Treatments of Liver Malignancies.

AIM: To evaluate a novel contrast-enhanced cone-beam computed tomography (CE-CBCT) registration method for accurate immediate assessment of ablation outcomes. MATERIALS AND METHODS: Contrast-enhanced computed tomography (CECT) was registered with CE-CBCT by applying semiautomatic landmark registration followed by automatic affine and non-rigid registration to correct for respiratory phase differences and liver deformation. This scheme was retrospectively applied to 30 patients who underwent 38 percutaneous microwave liver ablations. Three datasets were obtained for each case: (1) conventional CECT scans 24 h before ablation, (2) intraprocedural CE-CBCT scans, and (3) CECT scans 24 h post-ablation. Using a five-point scale, two experienced radiologists qualitatively assessed registration quality, equivalence of CE-CBCT assessment of ablation outcome to 24 h post-ablation CECT, and perceived increase of confidence using the fusion method to CBCT alone. Additionally, residual post-ablation tumor volumes were measured at both CE-CBCT and 24 h CECT and compared to the pre-CECT. RESULTS: Registration quality was high for both radiologists (R1: 4.3 ± 0.6, R2: 4.4 ± 0.5; p = 0.87). Comparisons between the registration of pre-ablation CECT with CE-CBCT versus post-ablation CECT regarding the position of the ablated area to the treated target (R1: 4.4 ± 0.6, R2: 4.6 ± 0.4) and treatment outcome (R1: 4.5 ± 0.5, R2: 4.6 ± 0.4) were equivalent (p > 0.35). Increased confidence was noted when using fusion (R1: 4.6 ± 0.4, R2: 4.6 ± 0.4; p = 0.84). Moreover, in 6 ablations (15.8%) the intraprocedural registered CBCT showed residual tumor precisely where identified on the 24 h post-ablation CECT. CONCLUSIONS: Combined CE-CBCT holds the potential to change the current workflow of mini-invasive cancer local treatments. Given earlier visual identification of residual tumor post-ablation, this includes potentially eliminating the need for some additional treatments.

Microwave ablation of primary and secondary liver tumours: ex vivo, in vivo, and clinical characterisation.

PURPOSE: The aim of this study was to compare the performance of a microwave ablation (MWA) apparatus in preclinical and clinical settings. MATERIALS AND METHOD: The same commercial 2.45 GHz MWA apparatus was used throughout this study. In total 108 ablations at powers ranging from 20 to 130 W and lasting from 3 to 30 min were obtained on ex vivo bovine liver; 28 ablations at 60 W, 80 W and 100 W lasting 5 and 10 min were then obtained in an in vivo swine model. Finally, 32 hepatocellular carcinomas (HCCs) and 19 liver metastases in 46 patients were treated percutaneously by administering 60 W for either 5 or 10 min. The treatment outcome was characterised in terms of maximum longitudinal and transversal axis of the induced ablation zone. RESULTS: Ex vivo ablation volumes increased linearly with deposited energy (r2 = 0.97), with higher sphericity obtained at lower power for longer ablation times. Larger ablations were obtained on liver metastases compared to HCCs treated with 60 W for 10 min (p < 0.003), as ablation diameters were 4.1 ± 0.6 cm for metastases and 3.7 ± 0.3 cm for HCC, with an average sphericity index of 0.70 ± 0.04. The results on the in vivo swine model at 60 W were substantially smaller than the ex vivo and clinical results (either populations). No statistically significant difference was observed between ex vivo results at 60 W and HCC results (p > 0.08). CONCLUSIONS: For the selected MW ablation device, ex vivo data on bovine liver was more predictive of the actual clinical performance on liver malignancies than an in vivo porcine model. Equivalent MW treatments yielded a significantly different response for HCC and metastases at higher deposited energy, suggesting that outcomes are not only device-specific but must also be characterised on a tissue-by-tissue basis.

Microwave ablation in primary and secondary liver tumours: technical and clinical approaches.

Thermal ablation is increasingly being utilised in the treatment of primary and metastatic liver tumours, both as curative therapy and as a bridge to transplantation. Recent advances in high-powered microwave ablation systems have allowed physicians to realise the theoretical heating advantages of microwave energy compared to other ablation modalities. As a result there is a growing body of literature detailing the effects of microwave energy on tissue heating, as well as its effect on clinical outcomes. This article will discuss the relevant physics, review current clinical outcomes and then describe the current techniques used to optimise patient care when using microwave ablation systems.

Virtual navigator real-time ultrasound fusion imaging with positron emission tomography for liver interventions.

Real-time fusion imaging technologies are increasingly being used among interventional radiologists, mostly Computed Tomography (CT) or Magnetic Resonance Imaging (MRI) dataset, fused with Ultrasound (US) imaging. In addition, fusion of Positron Emission Tomography (PET) and CT is increasingly diffused in clinical practice, due to the wide availability of PET scanners and the capability to make either a direct (acquisitions performed within the same system) or an indirect (procedure performed on an external workstation, merging the two different sets of acquired data) fusion with CT data. The present work describes the feasibility of real-time fusion imaging directly between PET data and US imaging, with CT scans being used only for PET-US fusion registration. Data on multimodality registration precision and clinical applications are presented as well.