Breast Cancer Risk Reduction, Version 2.2015.

Breast cancer is the most frequently diagnosed malignancy in women in the United States and is second only to lung cancer as a cause of cancer death. To assist women who are at increased risk of developing breast cancer and their physicians in the application of individualized strategies to reduce breast cancer risk, NCCN has developed these guidelines for breast cancer risk reduction.

DCE-MRI analysis methods for predicting the response of breast cancer to neoadjuvant chemotherapy: pilot study findings.

PURPOSE: The purpose of this pilot study is to determine (1) if early changes in both semiquantitative and quantitative DCE-MRI parameters, observed after the first cycle of neoadjuvant chemotherapy in breast cancer patients, show significant difference between responders and nonresponders and (2) if these parameters can be used as a prognostic indicator of the eventual response. METHODS: Twenty-eight patients were examined using DCE-MRI pre-, post-one cycle, and just prior to surgery. The semiquantitative parameters included longest dimension, tumor volume, initial area under the curve, and signal enhancement ratio related parameters, while quantitative parameters included K(trans), v(e), k(ep), v(p), and τ(i) estimated using the standard Tofts-Kety, extended Tofts-Kety, and fast exchange regime models. RESULTS: Our preliminary results indicated that the signal enhancement ratio washout volume and k(ep) were significantly different between pathologic complete responders from nonresponders (P < 0.05) after a single cycle of chemotherapy. Receiver operator characteristic analysis showed that the AUC of the signal enhancement ratio washout volume was 0.75, and the AUCs of k(ep) estimated by three models were 0.78, 0.76, and 0.73, respectively. CONCLUSION: In summary, the signal enhancement ratio washout volume and k(ep) appear to predict breast cancer response after one cycle of neoadjuvant chemotherapy. This observation should be confirmed with additional prospective studies.

Comparing regularized Kelvinlet functions and the finite element method for registration of medical images to sparse organ data.

Image-guided surgery collocates patient-specific data with the physical environment to facilitate surgical decision making. Unfortunately, these guidance systems commonly become compromised by intraoperative soft-tissue deformations. Nonrigid image-to-physical registration methods have been proposed to compensate for deformations, but clinical utility requires compatibility of these techniques with data sparsity and temporal constraints in the operating room. While finite element models can be effective in sparse data scenarios, computation time remains a limitation to widespread deployment. This paper proposes a registration algorithm that uses regularized Kelvinlets, which are analytical solutions to linear elasticity in an infinite domain, to overcome these barriers. This algorithm is demonstrated and compared to finite element-based registration on two datasets: a phantom liver deformation dataset and an in vivo breast deformation dataset. The regularized Kelvinlets algorithm resulted in a significant reduction in computation time compared to the finite element method. Accuracy as evaluated by target registration error was comparable between methods. Average target registration errors were 4.6 ± 1.0 and 3.2 ± 0.8 mm on the liver dataset and 5.4 ± 1.4 and 6.4 ± 1.5 mm on the breast dataset for the regularized Kelvinlets and finite element method, respectively. Limitations of regularized Kelvinlets include the lack of organ-specific geometry and the assumptions of linear elasticity and infinitesimal strain. Despite limitations, this work demonstrates the generalizability of regularized Kelvinlets registration on two soft-tissue elastic organs. This method may improve and accelerate registration for image-guided surgery, and it shows the potential of using regularized Kelvinlets on medical imaging data.

Magnetic resonance imaging as a predictor of pathologic response in patients treated with neoadjuvant systemic treatment for operable breast cancer. Translational Breast Cancer Research Consortium trial 017.

BACKGROUND: Increased pathologic complete response (pCR) rates observed with neoadjuvant chemotherapy (NCT) for some subsets of patients with invasive breast cancer have prompted interest in whether patients who achieved a pCR can be identified preoperatively and potentially spared the morbidity of surgery. The objective of this multicenter, retrospective study was to estimate the accuracy of preoperative magnetic resonance imaging (MRI) in predicting a pCR in the breast. METHODS: MRI studies at baseline and after the completion of NCT plus data regarding pathologic response were collected retrospectively from 746 women who received treatment at 8 institutions between 2002 and 2011. Tumors were characterized by immunohistochemical phenotype into 4 categories based on receptor expression: hormone (estrogen and progesterone) receptor (HR)-positive/human epidermal growth factor receptor 2 (HER2)-negative (n = 327), HR-positive/HER2-positive, (n = 148), HR-negative/HER2-positive, (n = 101), and triple-negative (HR-negative/HER2 negative; n = 155). In all, 194 of 249 patients (78%) with HER2-positive tumors received trastuzumab. Univariate and multivariate analyses of factors associated with radiographic complete response (rCR) and pCR were performed. RESULT: For the total group, the rCR and pCR rates were 182 of 746 patients (24%) and 179 of 746 patients (24%), respectively, and the highest pCR rate was observed for the triple-negative subtype (57 of 155 patients; 37%) and the HER2-positive subtype (38 of 101 patients; 38%). The overall accuracy of MRI for predicting pCR was 74%. The variables sensitivity, negative predictive value, positive predictive value, and accuracy differed significantly among tumor subtypes, and the greatest negative predictive value was observed in the triple-negative (60%) and HER2-positive (62%) subtypes. CONCLUSIONS: The overall accuracy of MRI for predicting pCR in invasive breast cancer patients who were receiving NCT was 74%. The performance of MRI differed between subtypes, possibly influenced by differences in pCR rates between groups. Future studies will determine whether MRI in combination with directed core biopsy improves the predictive value of MRI for pathologic response.

Incorporating heterogeneity and anisotropy for surgical applications in breast deformation modeling.

BACKGROUND: Simulating soft-tissue breast deformations is of interest for many applications including image fusion, longitudinal registration, and image-guided surgery. For the surgical use case, positional changes cause breast deformations that compromise the use of preoperative imaging to inform tumor excision. Even when acquiring imaging in the supine position, which better reflects surgical presentation, deformations still occur due to arm motion and orientation changes. A biomechanical modeling approach to simulate supine breast deformations for surgical applications must be both accurate and compatible with the clinical workflow. METHODS: A supine MR breast imaging dataset from n = 11 healthy volunteers was used to simulate surgical deformations by acquiring images in arm-down and arm-up positions. Three linear-elastic modeling approaches with varying levels of complexity were used to predict deformations caused by this arm motion: a homogeneous isotropic model, a heterogeneous isotropic model, and a heterogeneous anisotropic model using a transverse-isotropic constitutive model. FINDINGS: The average target registration errors for subsurface anatomical features were 5.4 ± 1.5 mm for the homogeneous isotropic model, 5.3 ± 1.5 mm for the heterogeneous isotropic model, and 4.7 ± 1.4 mm for the heterogeneous anisotropic model. A statistically significant improvement in target registration error was observed between the heterogeneous anisotropic model and both the homogeneous and the heterogeneous isotropic models (P < 0.01). INTERPRETATION: While a model that fully incorporates all constitutive complexities of anatomical structure likely achieves the best accuracy, a computationally tractable heterogeneous anisotropic model provided significant improvement and may be applicable for image-guided breast surgeries.

Soft Tissue Monitoring of the Surgical Field: Detection and Tracking of Breast Surface Deformations.

OBJECTIVE: Deformable object tracking is common in the computer vision field, with applications typically focusing on nonrigid shape detection and usually not requiring specific three-dimensional point localization. In surgical guidance however, accurate navigation is intrinsically linked to precise correspondence of tissue structure. This work presents a contactless, automated fiducial acquisition method using stereo video of the operating field to provide reliable three-dimensional fiducial localization for an image guidance framework in breast conserving surgery. METHODS: On n = 8 breasts from healthy volunteers, the breast surface was measured throughout the full range of arm motion in a supine mock-surgical position. Using hand-drawn inked fiducials, adaptive thresholding, and KAZE feature matching, precise three-dimensional fiducial locations were detected and tracked through tool interference, partial and complete marker occlusions, significant displacements and nonrigid shape distortions. RESULTS: Compared to digitization with a conventional optically tracked stylus, fiducials were automatically localized with 1.6 ± 0.5 mm accuracy and the two measurement methods did not significantly differ. The algorithm provided an average false discovery rate <0.1% with all cases' rates below 0.2%. On average, 85.6 ± 5.9% of visible fiducials were automatically detected and tracked, and 99.1 ± 1.1% of frames provided only true positive fiducial measurements, which indicates the algorithm achieves a data stream that can be used for reliable on-line registration. CONCLUSIONS: Tracking is robust to occlusions, displacements, and most shape distortions. SIGNIFICANCE: This work-flow friendly data collection method provides highly accurate and precise three-dimensional surface data to drive an image guidance system for breast conserving surgery.

Statistical comparison of dynamic contrast-enhanced MRI pharmacokinetic models in human breast cancer.

By fitting dynamic contrast-enhanced MRI data to an appropriate pharmacokinetic model, quantitative physiological parameters can be estimated. In this study, we compare four different models by applying four statistical measures to assess their ability to describe dynamic contrast-enhanced MRI data obtained in 28 human breast cancer patient sets: the chi-square test (χ(2)), Durbin-Watson statistic, Akaike information criterion, and Bayesian information criterion. The pharmacokinetic models include the fast exchange limit model with (FXL_v(p)) and without (FXL) a plasma component, and the fast and slow exchange regime models (FXR and SXR, respectively). The results show that the FXL_v(p) and FXR models yielded the smallest χ(2) in 45.64 and 47.53% of the voxels, respectively; they also had the smallest number of voxels showing serial correlation with 0.71 and 2.33%, respectively. The Akaike information criterion indicated that the FXL_v(p) and FXR models were preferred in 42.84 and 46.59% of the voxels, respectively. The Bayesian information criterion also indicated the FXL_v(p) and FXR models were preferred in 39.39 and 45.25% of the voxels, respectively. Thus, these four metrics indicate that the FXL_v(p) and the FXR models provide the most complete statistical description of dynamic contrast-enhanced MRI time courses for the patients selected in this study.

Notch mediates TGF alpha-induced changes in epithelial differentiation during pancreatic tumorigenesis.

Notch signaling regulates cell fate decisions in a wide variety of adult and embryonic tissues. Here we show that Notch pathway components and Notch target genes are upregulated in invasive pancreatic cancer, as well as in pancreatic cancer precursors from both mouse and human. In mouse pancreas, ectopic Notch activation results in accumulation of nestin-positive precursor cells and expansion of metaplastic ductal epithelium, previously identified as a precursor lesion for pancreatic cancer. Notch is also activated as a direct consequence of EGF receptor activation in exocrine pancreas and is required for TGF alpha-induced changes in epithelial differentiation. These findings suggest that Notch mediates the tumor-initiating effects of TG alpha by expanding a population of undifferentiated precursor cells.

Tumor deformation correction for an image guidance system in breast conserving surgery.

Breast cancer is the most common cancer in women, and surgical resection is standard of care for the majority of breast cancer patients. Unfortunately, current reoperation rates are 10-29%. Uncertainty in lesion localization is one of the main factors contributing to these high reoperation rates. This work uses the linearized iterative boundary reconstruction approach to model patient breast deformation due to abduction of the ipsilateral arm. A preoperative supine magnetic resonance (MR) image was obtained with the patient's arms down near the torso. A mock intraoperative breast shape was measured from a supine MR image obtained with the patient's arm up near the head. Sparse data was subsampled from the full volumetric image to represent realistic intraoperative data collection: surface fiducial points, the intra-fiducial skin surface, and the chest wall as measured with 7 tracked ultrasound images. The deformed preoperative arm-down data was compared to the ground truth arm-up data. From rigid registration to model correction the tumor centroid distance improves from 7.3 mm to 3.3 mm, average surface fiducial error across 9 synthetic fiducials and the nipple improves from 7.4 ± 2.2 to 1.3 ± 0.7, and average subsurface error across 14 corresponding features improves from 6.2 ± 1.4 mm to 3.5 ± 1.1 mm. Using preoperative supine MR imaging and sparse data in the deformed position, this modeling framework can correct for breast shape changes between imaging and surgery to more accurately predict intraoperative position of the tumor as well as 10 surface fiducials and 14 subsurface features.

Breast image registration for surgery: Insights on material mechanics modeling.

Breast conserving surgery (BCS) is a common procedure for early-stage breast cancer patients. Supine preoperative magnetic resonance (MR) breast imaging for visualizing tumor location and extent, while not standard for procedural guidance, more closely represents the surgical presentation compared to conventional diagnostic pendant positioning. Optimal utilization for surgical guidance, however, requires a fast and accurate image-to-physical registration from preoperative imaging to intraoperative surgical presentation. In this study, three registration methods were investigated on healthy volunteers' breasts (n=11) with the arm-down position simulating preoperative imaging and arm-up position simulating intraoperative data. The registration methods included: (1) point-based rigid registration using synthetic fiducials, (2) non-rigid biomechanical model-based registration using sparse data, and (3) a data-dense 3D diffeomorphic image-based registration from the Advanced Normalization Tools (ANTs) repository. The average target registration errors (TRE) were 10.4 ± 2.3, 6.4 ± 1.5, and 2.8 ± 1.3 mm (mean ± standard deviation) and the average fiducial registration errors (FRE) were 7.8 ± 1.7, 2.5 ± 1.1, and 3.1 ± 1.1 mm (mean ± standard deviation) for the point-based rigid, nonrigid biomechanical, and ANTs registrations, respectively. Additionally, common mechanics-based deformation metrics (volume change and anisotropy) were calculated from the ANTs deformation field. The average metrics revealed anisotropic tissue behavior and a statistical difference in volume change between glandular and adipose tissue, suggesting that nonrigid modeling methods may be improved by incorporating material heterogeneity and anisotropy. Overall, registration accuracy significantly improved with increasingly flexible registration methods, which may inform future development of image guidance systems for lumpectomy procedures.

Computational Imaging to Compensate for Soft-Tissue Deformations in Image-Guided Breast Conserving Surgery.

OBJECTIVE: During breast conserving surgery (BCS), magnetic resonance (MR) images aligned to accurately display intraoperative lesion locations can offer improved understanding of tumor extent and position relative to breast anatomy. Unfortunately, even under consistent supine conditions, soft tissue deformation compromises image-to-physical alignment and results in positional errors. METHODS: A finite element inverse modeling technique has been developed to nonrigidly register preoperative supine MR imaging data to the surgical scene for improved localization accuracy during surgery. Registration is driven using sparse data compatible with acquisition during BCS, including corresponding surface fiducials, sparse chest wall contours, and the intra-fiducial skin surface. Deformation predictions were evaluated at surface fiducial locations and subsurface tissue features that were expertly identified and tracked. Among n = 7 different human subjects, an average of 22 ± 3 distributed subsurface targets were analyzed in each breast volume. RESULTS: The average target registration error (TRE) decreased significantly when comparing rigid registration to this nonrigid approach (10.4 ± 2.3 mm vs 6.3 ± 1.4 mm TRE, respectively). When including a single subsurface feature as additional input data, the TRE significantly improved further (4.2 ± 1.0 mm TRE), and in a region of interest within 15 mm of a mock biopsy clip TRE was 3.9 ± 0.9 mm. CONCLUSION: These results demonstrate accurate breast deformation estimates based on sparse-data-driven model predictions. SIGNIFICANCE: The data suggest that a computational imaging approach can account for image-to-surgery shape changes to enhance surgical guidance during BCS.

Supine magnetic resonance image registration for breast surgery: insights on material mechanics.

Purpose: Breast conserving surgery (BCS) is a common procedure for early-stage breast cancer patients. Supine preoperative magnetic resonance (MR) breast imaging for visualizing tumor location and extent, while not standard for procedural guidance, is being explored since it more closely represents the surgical presentation compared to conventional diagnostic imaging positions. Despite this preoperative imaging position, deformation is still present between the supine imaging and surgical state. As a result, a fast and accurate image-to-physical registration approach is needed to realize image-guided breast surgery. Approach: In this study, three registration methods were investigated on healthy volunteers' breasts ( n = 11 ) with the supine arm-down position simulating preoperative imaging and supine arm-up position simulating intraoperative presentation. The registration methods included (1) point-based rigid registration using synthetic fiducials, (2) nonrigid biomechanical model-based registration using sparse data, and (3) a data-dense three-dimensional diffeomorphic image-based registration from the Advanced Normalization Tools (ANTs) repository. Additionally, deformation metrics (volume change and anisotropy) were calculated from the ANTs deformation field to better understand breast material mechanics. Results: The average target registration errors (TRE) were 10.4 ± 2.3 , 6.4 ± 1.5 , and 2.8 ± 1.3 mm (mean ± standard deviation) and the average fiducial registration errors (FRE) were 7.8 ± 1.7 , 2.5 ± 1.1 , and 3.1 ± 1.1 mm for the point-based rigid, nonrigid biomechanical, and ANTs registrations, respectively. The mechanics-based deformation metrics revealed an overall anisotropic tissue behavior and a statistically significant difference in volume change between glandular and adipose tissue, suggesting that nonrigid modeling methods may be improved by incorporating material heterogeneity and anisotropy. Conclusions: Overall, registration accuracy significantly improved with increasingly flexible and data-dense registration methods. Analysis of these outcomes may inform the future development of image guidance systems for lumpectomy procedures.

Motion correction in diffusion-weighted MRI of the breast at 3T.

PURPOSE: To provide a quantitative assessment of motion and distortion correction of diffusion-weighted images (DWIs) of the breast and to evaluate the effects of registration on the mean apparent diffusion coefficient (mADC). MATERIALS AND METHODS: Eight datasets from four patients with breast cancer and eight datasets from six healthy controls were acquired on a 3T scanner. A 3D affine registration was used to align each set of images and principal component analysis was used to assess the results. Variance in tumor ADC measurements, tumor mADC values, and voxel-wise tumor mADC values were compared before and after registration for each patient. RESULTS: Image registration significantly (P = 0.008) improved image alignment for both groups and significantly (P < 0.001) reduced the variance across individual tumor ADC measurements. While misalignment led to potential under- and overestimation of mADC values for individual voxels, average tumor mADC values did not significantly change (P > 0.09) after registration. CONCLUSION: 3D affine registration improved the alignment of DWIs of the breast and reduced the variance between ADC measurements. Although the reduced variance did not significantly change tumor region-of-interest measures of mADC, it may have a significant impact on voxel-based analyses.

Impact of deformation on a supine-positioned image-guided breast surgery approach.

PURPOSE: To reduce reoperation rates for image-guided breast-conserving surgery, the enhanced sensitivity of magnetic resonance (MR) supine imaging may be leveraged. However, accurate tissue correspondence between images and their physical counterpart in the surgical presentation is challenging due to breast deformations (e.g., from patient/arm position changes, and operating room table rotation differences). In this study, standard rigid registration methods are employed and tissue deformation is characterized. METHODS: On n = 10 healthy breasts, surface displacements were measured by comparing intraoperative fiducial locations as the arm was moved from conventional MR scanning positions (arm-down and arm-up) to the laterally extended surgical configuration. Supine MR images in the arm-down and arm-up positions were registered to mock intraoperative presentations. RESULTS: Breast displacements from a supine MR imaging configuration to a mock surgical presentation were 28.9 ± 9.2 mm with shifts occurring primarily in the inferior/superior direction. With respect to supine MR to surgical alignment, the average fiducial, target, and maximum target registration errors were 9.0 ± 1.7 mm, 9.3 ± 1.7 mm, and 20.0 ± 7.6 mm, respectively. Even when maintaining similar arm positions in the MR image and mock surgery, the respective averages were 6.0 ± 1.0 mm, 6.5 ± 1.1 mm, and 12.5 ± 2.8 mm. CONCLUSION: From supine MR positioning to surgical presentation, the breast undergoes large displacements (9.9-70.1 mm). The data also suggest that significant nonrigid deformations (9.3 ± 1.7 mm with 20.0 mm average maximum) exist that need to be considered in image guidance and modeling applications.

Autofluorescence and diffuse reflectance spectroscopy and spectral imaging for breast surgical margin analysis.

BACKGROUND AND OBJECTIVE: Most women with early stage breast cancer have the option of breast conserving therapy, which involves a partial mastectomy for removal of the primary tumor, usually followed by radiotherapy. The presence of tumor at or near the margin is strongly correlated with the risk of local tumor recurrence, so there is a need for a non-invasive, real-time tool to evaluate margin status. This study examined the use of autofluorescence and diffuse reflectance spectroscopy and spectral imaging to evaluate margin status intraoperatively. MATERIALS AND METHODS: Spectral measurements were taken from the surface of the tissue mass immediately following removal during partial mastectomies and/or from tissues immediately after sectioning by surgical pathology. A total of 145 normal spectra were obtained from 28 patients, and 34 tumor spectra were obtained from 12 patients. RESULTS: After correlation with histopathology, a multivariate statistical algorithm classified the spectra as normal (negative margins) or tumor (positive margins) with 85% sensitivity and 96% specificity. A separate algorithm achieved 100% classification between neo-adjuvant chemotherapy-treated tissues and non-treated tissues. Fluorescence and reflectance-based spectral images were able to demarcate a calcified lesion on the surface of a resected specimen as well. CONCLUSION: Fluorescence and reflectance spectroscopy could be a valuable tool for examining the superficial margin status of excised breast tumor specimens, particularly in the form of spectral imaging to examine entire margins in a single acquisition.

Textual fiducial detection in breast conserving surgery for a near-real time image guidance system.

Breast cancer is the most common cancer in American women, and is the second most deadly. Current guidance approaches for breast cancer surgery provide distance to a seed implanted near the tumor centroid. Large deformations between preoperative imaging and surgical presentation, coupled with the lack of tumor extent information leads to difficulty in ensuring complete tumor resection. Here we propose a novel image guidance platform that utilizes character-based fiducials for easy detection and small fiducial points for precise and accurate localization. Our system is work-flow friendly, and near-real time with use of stereo cameras for surface acquisition. Using simple image processing techniques, the proposed technique can localize fiducials and character labels, providing updates without relying on video history. Character based fiducial labels can be recognized and used to determine correspondence between left and right images in a pair of stereo cameras, and frame to frame in a sequence of images during a procedure. Letters can be recognized with 89% accuracy using the MATLAB built in optical character recognition function, and an average of 81% of points can be accurately labeled and localized. The stereo camera system can determine surface points with accuracy below 2mm when compared to optically tracked stylus points. These surface points are incorporated to a four-panel guidance display that includes preoperative supine MR, tracked ultrasound, and a model view of the breast and tumor with respect to optically tracked instrumentation.

Metabolic Heterogeneity in Patient Tumor-Derived Organoids by Primary Site and Drug Treatment.

New tools are needed to match cancer patients with effective treatments. Patient-derived organoids offer a high-throughput platform to personalize treatments and discover novel therapies. Currently, methods to evaluate drug response in organoids are limited because they overlook cellular heterogeneity. In this study, non-invasive optical metabolic imaging (OMI) of cellular heterogeneity was characterized in breast cancer (BC) and pancreatic cancer (PC) patient-derived organoids. Baseline heterogeneity was analyzed for each patient, demonstrating that single-cell techniques, such as OMI, are required to capture the complete picture of heterogeneity present in a sample. Treatment-induced changes in heterogeneity were also analyzed, further demonstrating that these measurements greatly complement current techniques that only gauge average cellular response. Finally, OMI of cellular heterogeneity in organoids was evaluated as a predictor of clinical treatment response for the first time. Organoids were treated with the same drugs as the patient's prescribed regimen, and OMI measurements of heterogeneity were compared to patient outcome. OMI distinguished subpopulations of cells with divergent and dynamic responses to treatment in living organoids without the use of labels or dyes. OMI of organoids agreed with long-term therapeutic response in patients. With these capabilities, OMI could serve as a sensitive high-throughput tool to identify optimal therapies for individual patients, and to develop new effective therapies that address cellular heterogeneity in cancer.

Toward quantitative quasistatic elastography with a gravity-induced deformation source for image-guided breast surgery.

Biomechanical breast models have been employed for applications in image registration and diagnostic analysis, breast augmentation simulation, and for surgical and biopsy guidance. Accurate applications of stress-strain relationships of tissue within the breast can improve the accuracy of biomechanical models that attempt to simulate breast deformations. Reported stiffness values for adipose, glandular, and cancerous tissue types vary greatly. Variations in reported stiffness properties have been attributed to differences in testing methodologies and assumptions, measurement errors, and natural interpatient differences in tissue elasticity. Therefore, the ability to determine patient-specific in vivo breast tissue properties would be advantageous for these procedural applications. While some in vivo elastography methods are not quantitative and others do not measure material properties under deformation conditions that are appropriate to the application of concern, in this study, we developed an elasticity estimation method that is performed using deformations representative of supine therapeutic procedures. More specifically, reconstruction of mechanical properties appropriate for the standard-of-care supine lumpectomy was performed by iteratively fitting two anatomical images before and after deformations taking place in the supine breast configuration. The method proposed is workflow-friendly, quantitative, and uses a noncontact, gravity-induced deformation source.

A system for automatic monitoring of surgical instruments and dynamic, non-rigid surface deformations in breast cancer surgery.

When negative tumor margins are achieved at the time of resection, breast conserving therapy (lumpectomy followed with radiation therapy) offers patients improved cosmetic outcomes and quality of life with equivalent survival outcomes to mastectomy. However, high reoperation rates ranging 10-59% continue to challenge adoption and suggest that improved intraoperative tumor localization is a pressing need. We propose to couple an optical tracker and stereo camera system for automated monitoring of surgical instruments and non-rigid breast surface deformations. A bracket was designed to rigidly pair an optical tracker with a stereo camera, optimizing overlap volume. Utilizing both devices allowed for precise instrument tracking of multiple objects with reliable, workflow friendly tracking of dynamic breast movements. Computer vision techniques were employed to automatically track fiducials, requiring one-time initialization with bounding boxes in stereo camera images. Point based rigid registration was performed between fiducial locations triangulated from stereo camera images and fiducial locations recorded with an optically tracked stylus. We measured fiducial registration error (FRE) and target registration error (TRE) with two different stereo camera devices using a phantom breast with five fiducials. Average FREs of 2.7 ± 0.4 mm and 2.4 ± 0.6 mm with each stereo-camera device demonstrate considerable promise for this approach in monitoring the surgical field. Automated tracking was shown to reduce error when compared to manually selected fiducial locations in stereo camera image-based localization. The proposed instrumentation framework demonstrated potential for the continuous measurement of surgical instruments in relation to the dynamic deformations of a breast during lumpectomy.

Breast tissue stiffness estimation for surgical guidance using gravity-induced excitation.

Tissue stiffness interrogation is fundamental in breast cancer diagnosis and treatment. Furthermore, biomechanical models for predicting breast deformations have been created for several breast cancer applications. Within these applications, constitutive mechanical properties must be defined and the accuracy of this estimation directly impacts the overall performance of the model. In this study, we present an image-derived computational framework to obtain quantitative, patient specific stiffness properties for application in image-guided breast cancer surgery and interventions. The method uses two MR acquisitions of the breast in different supine gravity-loaded configurations to fit mechanical properties to a biomechanical breast model. A reproducibility assessment of the method was performed in a test-retest study using healthy volunteers and was further characterized in simulation. In five human data sets, the within subject coefficient of variation ranged from 10.7% to 27% and the intraclass correlation coefficient ranged from 0.91-0.944 for assessment of fibroglandular and adipose tissue stiffness. In simulation, fibroglandular content and deformation magnitude were shown to have significant effects on the shape and convexity of the objective function defined by image similarity. These observations provide an important step forward in characterizing the use of nonrigid image registration methodologies in conjunction with biomechanical models to estimate tissue stiffness. In addition, the results suggest that stiffness estimation methods using gravity-induced excitation can reliably and feasibly be implemented in breast cancer surgery/intervention workflows.