Tomotherapy: a new concept for the delivery of dynamic conformal radiotherapy

Accuracy of finite element model-based multi-organ deformable image registration

As more pretreatment imaging becomes integrated into the treatment planning process and full three-dimensional image-guidance becomes part of the treatment delivery the need for a deformable image registration technique becomes more apparent. A novel finite element model-based multiorgan deformable image registration method, MORFEUS, has been developed. The basis of this method is twofold: first, individual organ deformation can be accurately modeled by deforming the surface of the organ at one instance into the surface of the organ at another instance and assigning the material properties that allow the internal structures to be accurately deformed into the secondary position and second, multi-organ deformable alignment can be achieved by explicitly defining the deformation of a subset of organs and assigning surface interfaces between organs. The feasibility and accuracy of the method was tested on MR thoracic and abdominal images of healthy volunteers at inhale and exhale. For the thoracic cases, the lungs and external surface were explicitly deformed and the breasts were implicitly deformed based on its relation to the lung and external surface. For the abdominal cases, the liver, spleen, and external surface were explicitly deformed and the stomach and kidneys were implicitly deformed. The average accuracy (average absolute error) of the lung and liver deformation, determined by tracking visible bifurcations, was 0.19 (s.d.: 0.09), 0.28 (s.d.: 0.12) and 0.17 (s.d.: 0.07) cm, in the LR, AP, and IS directions, respectively. The average accuracy of implicitly deformed organs was 0.11 (s.d.: 0.11), 0.13 (s.d.: 0.12), and 0.08 (s.d.: 0.09) cm, in the LR, AP, and IS directions, respectively. The average vector magnitude of the accuracy was 0.44 (s.d.: 0.20) cm for the lung and liver deformation and 0.24 (s.d.: 0.18) cm for the implicitly deformed organs. The two main processes, explicit deformation of the selected organs and finite element analysis calculations, require less than 120 and 495 s, respectively. This platform can facilitate the integration of deformable image registration into online image guidance procedures, dose calculations, and tissue response monitoring as well as performing multi-modality image registration for purposes of treatment planning.

Fast radiographic film calibration procedure for helical tomotherapy intensity modulated radiation therapy dose verification

Film dosimetry offers an advantageous in-phantom planar dose verification tool in terms of spatial resolution and ease of handling for quality assurance (QA) of intensity modulated radiation therapy (IMRT) plans. A critical step in the success of such a technique is that the film calibration be appropriately conducted. This paper presents a fast and efficient film calibration method for a helical tomotherapy unit using a single sheet of film. Considering the unique un-flattened cone shaped profile from a helical tomotherapy beam, a custom leaf control file (sinogram) was created, to produce a valley shaped intensity pattern. There are eleven intensity steps in the valley pattern, representing varying dose values from 38 to 265 cGy. This dose range covers the most commonly prescribed doses in fractionated IMRT treatments. An ion chamber in a solid water phantom was used to measure the dose in each of the eleven steps. For daily film calibration the whole procedure, including film exposure, processing, digitization and analysis, can be completed within 15 min, making it practical to use this technique routinely. This method is applicable to film calibration on a helical tomotherapy unit and is particularly useful in IMRT planar dose verification due to its efficiency and reproducibility. In this work, we characterized the dose response of the KODAK EDR2 ready-pack film which was used to develop the step valley dose maps and the IMRT QA planar doses. A comparison between the step valley technique and multifilm based calibration showed that both calibration methods agreed with less than 0.4% deviation in the clinically useful dose ranges.

Investigation of dose homogeneity for loose helical tomotherapy delivery in the context of breath-hold radiation therapy

Loose helical delivery is a potential solution to account for respiration-driven tumour motion in helical tomotherapy (HT). In this approach, a treatment is divided into a set of interlaced 'loose' helices commencing at different gantry angles. Each loose helix covers the entire target length in one gantry rotation during a single breath-hold. The dosimetric characteristics of loose helical delivery were investigated by delivering a 6 MV photon beam in a HT-like manner. Multiple scenarios of conventional 'tight' HT and loose helical deliveries were modelled in treatment planning software, and carried out experimentally with Kodak EDR2 film. The advantage of loose helical delivery lies in its ability to produce a more homogeneous dose distribution by eliminating the 'thread' effect-an inherent characteristic of HT, which results in dose modulations away from the axis of gantry rotation. However, loose helical delivery was also subjected to undesirable dose modulations in the direction of couch motion (termed 'beating' effect), when the ratio between the number of beam projections per gantry rotation (n) and pitch factor (p) was a non-integer. The magnitude of dose modulations decreased with an increasing n/p ratio. The results suggest that for the current HT unit (n = 51), dose modulations could be kept under 5% by selecting a pitch factor smaller than 7. A pitch factor of this magnitude should be able to treat a target up to 30 cm in length. Loose helical delivery should increase the total session time only by a factor of 2, while the planning time should stay the same since the total number of beam projections remains unchanged. Considering its dosimetric advantage and clinical practicality, loose helical delivery is a promising solution for the future HT treatments of respiration-driven targets.

The helical tomotherapy thread effect

Inherent to helical tomotherapy is a dose variation pattern that manifests as a "ripple" (peak-to-trough relative to the average). This ripple is the result of helical beam junctioning, completely unique to helical tomotherapy. Pitch is defined as in helical CT, the couch travel distance for a complete gantry rotation relative to the axial beam width at the axis of rotation. Without scattering or beam divergence, an analytical posing of the problem as a simple integral predicts minima near a pitch of 1/n where n is an integer. A convolution-superposition dose calculator (TomoTherapy, Inc.) included all the physics needed to explore the ripple magnitude versus pitch and beam width. The results of the dose calculator and some benchmark measurements demonstrate that the ripple has sharp minima near p=0.86(1/n). The 0.86 factor is empirical and caused by a beam junctioning of the off-axis dose profiles which differ from the axial profiles as well as a long scatter tail of the profiles at depth. For very strong intensity modulation, the 0.86 factor may vary. The authors propose choosing particular minima pitches or using a second delivery that starts 180 deg off-phase from the first to reduce these ripples: "Double threading." For current typical pitches and beam widths, however, this effect is small and not clinically important for most situations. Certain extremely large field or high pitch cases, however, may benefit from mitigation of this effect.

A Monte Carlo derived TG-51 equivalent calibration for helical tomotherapy

Helical tomotherapy (HT) requires a method of accurately determining the absorbed dose under reference conditions. In the AAPM's TG-51 external beam dosimetry protocol, the quality conversion factor, kQ, is presented as a function of the photon component of the percentage depth-dose at 10 cm depth, %dd(10)x, measured under the reference conditions of a 10 x 10 cm2 field size and a source-to-surface distance (SSD) of 100 cm. The value of %dd(10)x from HT cannot be used for the determination of kQ because the design of the HT does not meet the following TG-51 reference conditions: (i) the field size and the practical SSD required by TG-51 are not obtainable and (ii) the absence of the flattening filter changes the beam quality thus affecting some components of kQ. The stopping power ratio is not affected because of its direct relationship to %dd(10)x. We derive a relationship for the Exradin A1SL ion chamber converting the %dd(10)x measured under HT "reference conditions" of SSD=85 cm and a 5 x 10 cm2 field-size [%dd(10)x[HT Ref]], to the dosimetric equivalent value under for TG-51 reference conditions [%dd(10)x[HT TG-51]] for HT. This allows the determination of kQ under the HT reference conditions. The conversion results in changes of 0.1% in the value of kQ for our particular unit. The conversion relationship should also apply to other ion chambers with possible errors on the order of 0.1%.

Real-time monitoring of a digestive tract marker to reduce adverse effects of moving organs at risk (OAR) in radiotherapy for thoracic and abdominal tumors

PURPOSE

To evaluate the feasibility of real-time monitoring of a fiducial marker in/near the digestive tract and to analyze the motion of organs at risk to determine a reasonable internal margin.

METHODS AND MATERIALS

We developed two methods to insert a fiducial marker into/near the digestive tract adjacent to the target volume. One method involves an intraoperative insertion technique, and the other involves endoscopic insertion into the submucosal layer of the normal digestive tract. A fluoroscopic real-time tumor-tracking radiotherapy system was used to monitor the marker.

RESULTS

Fourteen markers (2 in the mediastinum and 12 in the abdomen) were implanted intraoperatively in 14 patients with no apparent migration. Seventeen of 20 markers (13/14 in the esophagus, 1/2 in the stomach, and 3/4 in the duodenum) in 18 patients were implanted using endoscopy without dropping. No symptomatic adverse effects related to insertion were observed. The mean/standard deviation of the range of motion of the esophagus was 3.5/1.8, 8.3/3.8, and 4.0/2.6 mm for lateral, craniocaudal and anteroposterior directions, respectively, in patients with intrafractional tumor motion less than 1.0 cm.

CONCLUSION

Both intraoperative and endoscopic insertions of a fiducial marker into/near the digestive tract for monitoring of organs at risk were feasible. The margin for internal motion can be individualized using this system.

Modelling simple helically delivered dose distributions

In a previous paper, we described quality assurance procedures for Hi-Art helical tomotherapy machines. Here, we develop further some ideas discussed briefly in that paper. Simple helically generated dose distributions are modelled, and relationships between these dose distributions and underlying characteristics of Hi-Art treatment systems are elucidated. In particular, we describe the dependence of dose levels along the central axis of a cylinder aligned coaxially with a Hi-Art machine on fan beam width, couch velocity and helical delivery lengths. The impact on these dose levels of angular variations in gantry speed or output per linear accelerator pulse is also explored.

Integrating a MRI scanner with a 6 MV radiotherapy accelerator: dose increase at tissue–air interfaces in a lateral magnetic field due to returning electrons

In the framework of the development of the integration of a MRI-scanner with a linear accelerator, the influence of a lateral, magnetic field on the dose distribution has to be determined. Dose increase is expected at tissue-air boundaries, due to the electron return effect (ERE): electrons entering air will describe a circular path and return into the phantom causing extra dose deposition. Using IMRT with many beam directions, this exit dose will not constitute a problem. Dose levels behind air cavities will decrease because of the absence of electrons crossing the cavity. The ERE has been demonstrated both by simulation and experiment. Monte Carlo simulations are performed with GEANT4, irradiating a water-air-water phantom in a lateral magnetic field. Also an air tube in water has been simulated, resulting in slightly twisted regions of dose increase and decrease. Experimental demonstration is achieved by film measurement in a perspex-air-perspex phantom in an electromagnet. Although the ERE causes dose increase before air cavities, relatively flat dose profiles can be obtained for the investigated cases using opposite beam configurations. More research will be necessary whether this holds for more realistic geometries with the use of IMRT and whether the ERE can be turned to our advantage when treating small tumour sites at air cavities.

Developments in megavoltage cone beam CT with an amorphous silicon EPID: Reduction of exposure and synchronization with respiratory gating

We have studied the feasibility of a low-dose megavoltage cone beam computed tomography (MV CBCT) system for visualizing the gross tumor volume in respiratory gated radiation treatments of nonsmall-cell lung cancer. The system consists of a commercially available linear accelerator (LINAC), an amorphous silicon electronic portal imaging device, and a respiratory gating system. The gantry movement and beam delivery are controlled using dynamic beam delivery toolbox, a commercial software package for executing scripts to control the LINAC. A specially designed interface box synchronizes the LINAC, image acquisition electronics, and the respiratory gating system. Images are preprocessed to remove artifacts due to detector sag and LINAC output fluctuations. We report on the output, flatness, and symmetry of the images acquired using different imaging parameters. We also examine the quality of three-dimensional (3D) tomographic reconstruction with projection images of anthropomorphic thorax, contrast detail, and motion phantoms. The results show that, with the proper choice of imaging parameters, the flatness and symmetry are reasonably good with as low as three beam pulses per projection image. Resolution of 5% electron density differences is possible in a contrast detail phantom using 100 projections and 30 MU. Synchronization of image acquisition with simulated respiration also eliminated motion artifacts in a moving phantom, demonstrating the system's capability for imaging patients undergoing gated radiation therapy. The acquisition time is limited by the patient's respiration (only one image per breathing cycle) and is under 10 min for a scan of 100 projections. In conclusion, we have developed a MV CBCT system using commercially available components to produce 3D reconstructions, with sufficient contrast resolution for localizing a simulated lung tumor, using a dose comparable to portal imaging.

Using FDG-PET activity as a surrogate for tumor cell density and its effect on equivalent uniform dose calculation

The concept of equivalent uniform dose (EUD) has been suggested as a means to quantitatively consider heterogeneous dose distributions within targets. Tumor cell density/function is typically assumed to be uniform. We herein propose to use 18F-labeled 2-deoxyglucose (FDG) positron emission tomography (PET) tumor imaging activity as a surrogate marker for tumor cell density to allow the EUD concept to include intratumor heterogeneities and to study its effect on EUD calculation. Thirty-one patients with lung cancer who had computerized tomography (CT)-based 3D planning and PET imaging were studied. Treatment beams were designed based on the information from both the CT and PET scans. Doses were calculated in 3D based on CT images to reflect tissue heterogeneity. The EUD was calculated in two different ways: first, assuming a uniform tumor cell density within the tumor target; second, using FDG-PET activity (counts/cm3) as a surrogate for tumor cell density at different parts of tumor to calculate the functional-imaging-weighted EUD (therefore will be labeled fEUD for convenience). The EUD calculation can be easily incorporated into the treatment planning process. For 28/31 patients, their fEUD and EUD differed by less than 6%. Twenty-one of these twenty-eight patients had tumor volumes < 200 cm3. In the three patients with larger tumor volume, the fEUD and EUD differed by 8%-14%. Incorporating information from PET imaging to represent tumor cell density in the EUD calculation is straightforward. This approach provides the opportunity to include heterogeneity in tumor function/metabolism into the EUD calculation. The difference between fEUD and EUD, i.e., whether including or not including the possible tumor cell density heterogeneity within tumor can be significant with large tumor volumes. Further research is needed to assess the usefulness of the fEUD concept in radiation treatment.

Planning evaluation of radiotherapy for complex lung cancer cases using helical tomotherapy

Lung cancer treatment is one of the most challenging fields in radiotherapy. The aim of the present study was to investigate what role helical tomotherapy (HT), a novel approach to the delivery of highly conformal dose distributions using intensity-modulated radiation fan beams, can play in difficult cases with large target volumes typical for many of these patients. Tomotherapy plans were developed for 15 patients with stage III inoperable non-small-cell lung cancer. While not necessarily clinically indicated, elective nodal irradiation was included for all cases to create the most challenging scenarios with large target volumes. A 2 cm margin was used around the gross tumour volume (GTV) to generate primary planning target volume (PTV2) and 1 cm margin around elective nodes for secondary planning target volume (PTV1) resulting in PTV1 volumes larger than 1000 cm3 in 13 of the 15 patients. Tomotherapy plans were created using an inverse treatment planning system (TomoTherapy Inc.) based on superposition/convolution dose calculation for a fan beam thickness of 25 mm and a pitch factor between 0.3 and 0.8. For comparison, plans were created using an intensity-modulated radiation therapy (IMRT) approach planned on a commercial treatment planning system (TheraplanPlus, Nucletron). Tomotherapy delivery times for the large target volumes were estimated to be between 4 and 19 min. Using a prescribed dose of 60 Gy to PTV2 and 46 Gy to PTV1, the mean lung dose was 23.8+/-4.6 Gy. A 'dose quality factor' was introduced to correlate the plan outcome with patient specific parameters. A good correlation was found between the quality of the HT plans and the IMRT plans with HT being slightly better in most cases. The overlap between lung and PTV was found to be a good indicator of plan quality for HT. The mean lung dose was found to increase by approximately 0.9 Gy per percent overlap volume. Helical tomotherapy planning resulted in highly conformal dose distributions. It allowed easy achievement of two different dose levels in the target simultaneously. As the overlap between PTV and lung volume is a major predictor of mean lung dose, future work will be directed to control of margins. Work is underway to investigate the possibility of breath-hold techniques for tomotherapy delivery to facilitate this aim.

Dose calibration of nonconventional treatment systems applied to helical tomotherapy

Current dosimetric protocols based on the absorbed dose (AAPM TG-51 and IAEA TRS-398 protocols) require calibration measurements under reference conditions. For some radiotherapy systems, this requirement cannot be met, and calibration has to be performed under nonreference experimental conditions. In order to solve this problem, both protocols can be extended by inclusion of the measured-to-reference conversion factor, k(mr). In order to determine this factor, basic dosimetric quantities, like stopping power ratios, mass attenuation coefficients and chamber correction factors have to be calculated. If measurements are not feasible, accurate Monte Carlo modeling is required. The extension of the protocols is illustrated using the case of the helical tomotherapy radiation unit, where the typical calibration measurement conditions are the 10 x 5 cm2 field size and the 85 cm surface source distance, limited by the system design. It was calculated that the k(mr) factor for this conditions is close to unity (0.997+/-0.001). In addition, the deviation of the measurement conditions from the reference conditions results in the change of the quality conversion factor (approximately 0.995-0.998, depending on the ionization chamber used). This change is the same regardless of the used calibration protocol. For smaller field sizes the corrections become more significant, resulting in the total correction factor compared to the reference conditions of up to 1.5% for the smallest considered field size of 2 x 2 cm2.

Accurate convolution/superposition for multi-resolution dose calculation using cumulative tabulated kernels

Convolution/superposition (C/S) is regarded as the standard dose calculation method in most modern radiotherapy treatment planning systems. Different implementations of C/S could result in significantly different dose distributions. This paper addresses two major implementation issues associated with collapsed cone C/S: one is how to utilize the tabulated kernels instead of analytical parametrizations and the other is how to deal with voxel size effects. Three methods that utilize the tabulated kernels are presented in this paper. These methods differ in the effective kernels used: the differential kernel (DK), the cumulative kernel (CK) or the cumulative-cumulative kernel (CCK). They result in slightly different computation times but significantly different voxel size effects. Both simulated and real multi-resolution dose calculations are presented. For simulation tests, we use arbitrary kernels and various voxel sizes with a homogeneous phantom, and assume forward energy transportation only. Simulations with voxel size up to 1 cm show that the CCK algorithm has errors within 0.1% of the maximum gold standard dose. Real dose calculations use a heterogeneous slab phantom, both the 'broad' (5 x 5 cm2) and the 'narrow' (1.2 x 1.2 cm2) tomotherapy beams. Various voxel sizes (0.5 mm, 1 mm, 2 mm, 4 mm and 8 mm) are used for dose calculations. The results show that all three algorithms have negligible difference (0.1%) for the dose calculation in the fine resolution (0.5 mm voxels). But differences become significant when the voxel size increases. As for the DK or CK algorithm in the broad (narrow) beam dose calculation, the dose differences between the 0.5 mm voxels and the voxels up to 8 mm (4 mm) are around 10% (7%) of the maximum dose. As for the broad (narrow) beam dose calculation using the CCK algorithm, the dose differences between the 0.5 mm voxels and the voxels up to 8 mm (4 mm) are around 1% of the maximum dose. Among all three methods, the CCK algorithm is demonstrated to be the most accurate one for multi-resolution dose calculations.

Image-guided radiotherapy for prostate cancer by CT–linear accelerator combination: Prostate movements and dosimetric considerations

PURPOSE

Multiple studies have indicated that the prostate is not stationary and can move as much as 2 cm. Such prostate movements are problematic for intensity-modulated radiotherapy, with its associated tight margins and dose escalation. Because of these intrinsic daily uncertainties, a relative generous "margin" is necessary to avoid marginal misses. Using the CT-linear accelerator combination in the treatment suite (Primatom, Siemens), we found that the daily intrinsic prostate movements can be easily corrected before each radiotherapy session. Dosimetric calculations were performed to evaluate the amount of discrepancy of dose to the target if no correction was done for prostate movement.

METHODS AND MATERIALS

The Primatom consists of a Siemens Somatom CT scanner and a Siemens Primus linear accelerator installed in the same treatment suite and sharing a common table/couch. The patient is scanned by the CT scanner, which is movable on a pair of horizontal rails. During scanning, the couch does not move. The exact location of the prostate, seminal vesicles, and rectum are identified and localized. These positions are then compared with the planned positions. The daily movement of the prostate and rectum were corrected for and a new isocenter derived. The patient was treated immediately using the new isocenter.

RESULTS

Of the 108 patients with primary prostate cancer studied, 540 consecutive daily CT scans were performed during the last part of the cone down treatment. Of the 540 scans, 46% required no isocenter adjustments for the AP-PA direction, 54% required a shift of > or =3 mm, 44% required a shift of >5 mm, and 15% required a shift of >10 mm. In the superoinferior direction, 27% required a shift of >3 mm, 25% required a shift of >5 mm, and 4% required a shift of >10 mm. In the right-left direction, 34% required a shift of >3 mm, 24% required a shift of >5 mm, and 5% required a shift of >10 mm. Dosimetric calculations for a typical case of prostate cancer using intensity-modulated radiotherapy with 5-mm margin coverage from the clinical target volume (prostate gland) was performed. With a posterior shift of 10 mm for the prostate, the dose coverage dropped from 95-107% to 71-100% coverage.

CONCLUSION

We have described a technique that corrects for the daily prostate motion, allowing for extremely precise prostate cancer treatment. This technique has significant implications for dose escalation and for decreasing rectal complications in the treatment of prostate cancer.

Quality assurance of a helical tomotherapy machine

Helical tomotherapy has been developed at the University of Wisconsin, and 'Hi-Art II' clinical machines are now commercially manufactured. At the core of each machine lies a ring-gantry-mounted short linear accelerator which generates x-rays that are collimated into a fan beam of intensity-modulated radiation by a binary multileaf, the modulation being variable with gantry angle. Patients are treated lying on a couch which is translated continuously through the bore of the machine as the gantry rotates. Highly conformal dose-distributions can be delivered using this technique, which is the therapy equivalent of spiral computed tomography. The approach requires synchrony of gantry rotation, couch translation, accelerator pulsing and the opening and closing of the leaves of the binary multileaf collimator used to modulate the radiation beam. In the course of clinically implementing helical tomotherapy, we have developed a quality assurance (QA) system for our machine. The system is analogous to that recommended for conventional clinical linear accelerator QA by AAPM Task Group 40 but contains some novel components, reflecting differences between the Hi-Art devices and conventional clinical accelerators. Here the design and dosimetric characteristics of Hi-Art machines are summarized and the QA system is set out along with experimental details of its implementation. Connections between this machine-based QA work, pre-treatment patient-specific delivery QA and fraction-by-fraction dose verification are discussed.

Technical note: output and energy fluctuations of the tomotherapy Hi-Art helical tomotherapy system

The output and energy calibrations for the first clinical Hi-Art 2.0 helical tomotherapy system have been reviewed. Fixed-gantry/fixed-couch and rotational-gantry/fixed-couch measurements were made on a daily basis over a period of 20 weeks to investigate system stability. Static gantry measurements were taken at 10 cm depth in a rectangular stack of Virtual Water at an SSD distance of 90 cm and a field size of 5 x 40 cm. Rotational gantry measurements were taken in a cylindrical phantom Virtual Water phantom for a field size of 5 x 40 cm. The Hi-Art 2.0 system has maintained its calibration to within +/-2% and energy to within +/- 1.5% over the initial 20 week period.

Tomotherapy planning of small brain tumours

Helical tomotherapy (HT) combines a rotating intensity modulated fan beam with integrated CT imaging for high precision radiotherapy. HT plans for 12 patients with small brain tumours were compared with five other radiotherapy techniques. Proton techniques gave overall the best results, while HT was shown to produce better target dose uniformity (average SD=1.3%) and kept irradiation of organs at risk as good as other photon methods.

Motion-encoded dose calculation through fluence/sinogram modification

Conventional radiotherapy treatment planning systems rely on a static computed tomography (CT) image for planning and evaluation. Intra/inter-fraction patient motions may result in significant differences between the planned and the delivered dose. In this paper, we develop a method to incorporate the knowledge of intra/inter-fraction patient motion directly into the dose calculation. By decomposing the motion into a parallel (to beam direction) component and perpendicular (to beam direction) component, we show that the motion effects can be accounted for by simply modifying the fluence distribution (sinogram). After such modification, dose calculation is the same as those based on a static planning image. This method is superior to the "dose-convolution" method because it is not based on "shift invariant" assumption. Therefore, it deals with material heterogeneity and surface curvature very well. We test our method using extensive simulations, which include four phantoms, four motion patterns, and three plan beams. We compare our method with the "dose-convolution" and the "stochastic simulation" methods (gold standard). As for the homogeneous flat surface phantom, our method has similar accuracy as the "dose-convolution" method. As for all other phantoms, our method outperforms the "dose-convolution." The maximum motion encoded dose calculation error using our method is within 4% of the gold standard. It is shown that a treatment planning system that is based on "motion-encoded dose calculation" can incorporate random and systematic motion errors in a very simple fashion. Under this approximation, in principle, a planning target volume definition is not required, since it already accounts for the intra/inter-fraction motion variations and it automatically optimizes the cumulative dose rather than the single fraction dose.

Radiation and intensity-modulated radiotherapy for metastatic spine tumors

Although promising, many questions remain regarding spinal IMRT. The challenge of patient immobilization must be surmounted before a radiation facility can safely offer spinal IMRT. At many institutions, the increased expense and time requirements from physicists, therapists, and physicians preclude the routine use of IMRT for spinal lesions. Finally, there are no randomized data comparing the safety or efficacy of IMRTwith more conventional means of spinal radiation. Nonetheless, IMRT is one of the most important recent technologic advancements in radiation therapy. For complex treatment problems, such as spinal tumors, in which the surrounding organs at risk traditionally place significant constraints on the prescription dose, IMRT has great potential to provide the ideal solution.

Recent Advances in Radiation Oncology

The field of radiation oncology has experienced dramatic progress in recent years. Advances in areas of tumor delineation, treatment planning, delivery, and verification allow modern radiotherapy to deliver high doses with great accuracy, less patient morbidity, and in a highly individualized manner. A good understanding of what can be achieved with modern radiotherapy is important in ensuring an effective multidisciplinary approach to the management of cancer and other benign, yet rapidly proliferating, lesions.

Integrating a MRI scanner with a 6 MV radiotherapy accelerator: dose deposition in a transverse magnetic field

Integrating magnetic resonance imaging (MRI) functionality with a radiotherapy accelerator can facilitate on-line, soft-tissue based, position verification. A technical feasibility study, in collaboration with Elekta Oncology Systems and Philips Medical Systems, led to the preliminary design specifications of a MRI accelerator. Basically the design is a 6 MV accelerator rotating around a 1.5 T MRI system. Several technical issues and the clinical rational are currently under investigation. The aim of this paper is to determine the impact of the transverse 1.5 T magnetic field on the dose deposition. Monte Carlo simulations were used to calculate the dose deposition kernel in the presence of 1.5 T. This kernel in turn was used to determine the dose deposition for larger fields. Also simulations and measurements were done in the presence of 1.1 T. The pencil beam dose deposition is asymmetric. For larger fields the asymmetry persists but decreases. For the latter the distance to dose maximum is reduced by approximately 5 mm, the penumbra is increased by approximately 1 mm, and the 50% isodose line is shifted approximately 1 mm. The dose deposition in the presence of 1.5 T is affected, but the effect can be taken into account in a conventional treatment planning procedure. The impact of the altered dose deposition for clinical IMRT treatments is the topic of further research.

Asymmetric fan beams (AFB) for improvement of the craniocaudal dose distribution in helical tomotherapy delivery

Helical tomotherapy (HT) is a novel radiotherapy technique that utilizes intensity modulated fan beams that deliver highly conformal dose distributions in a helical beam trajectory. The most significant limitation in dose delivery with a constant fan beam thickness (FBT) is the penumbra width of the dose distribution in the craniocaudal direction, which is equivalent to the FBT. We propose to employ a half-blocked fan beam at start and stop location to reduce the penumbra width by half. By opening the jaw slowly during the helical delivery until the desired FBT is achieved it is possible to create a sharper edge in the superior and inferior direction from the target. The technique was studied using a tomotherapy beam model implemented on a commercial treatment planning system (Theraplan Plus V3.0). It was demonstrated that the dose distribution delivered using a 25 mm fan beam can be improved significantly, to reduce the dose to normal structures located superiorly and inferiorly of the target. Dosimetry for this technique is straightforward down to a FBT of 15 mm and implementation should be simple as no changes in couch movement are required compared to a standard HT delivery. We conclude that the use of asymmetric collimated fan beams for the start and stop of the helical tomotherapeutic dose delivery has the potential of significantly improving the dose distribution in helical tomotherapy.

Radiation quality of a tomotherapy photon fan beam

Tomotherapy, a novel radiotherapy technique, uses narrow fan beams for cancer patient treatment. Photon energy spectra for a rectangular 10 x 1 cm2 photon beam were analyzed in central axis and penumbra regions at depths of 3 to 10 cm in a water phantom. A 6 MV beam of a Varian 2100C/D Linear Accelerator was modeled using BEAM99 Monte Carlo calculations to simulate energy transport in a water phantom. Arrays of 4 x 2 mm2 scoring regions were arranged to cover the central axis and penumbra areas. Radiation quality factors were calculated based on dose-mean linear energy transfer. Although there appears to be a trend towards higher quality factor values in the penumbra area, this change is fairly small, at most 3% in penumbra region. We conclude that change in radiation quality is not likely to be an issue in a tomotherapeutic approach when 6 MV x rays are used.

Treatment planning considerations of reshapeable automatic intensity modulator for intensity modulated radiation therapy

As compared with multi-leaf collimator based intensity modulated radiation therapy (IMRT) techniques, physical modulators have the major advantage of temporally invariant intensity map delivery which makes it more flexible with monitor unit rate, simpler resolution of interrupted treatment and easier implementation and use with respiratory gating. However, traditional physical modulator techniques require long fabrication time and operator intervention during treatments. It has been previously proposed [Xu et al., Med. Phys. 29, 2222-2229 (2002)] that a reshapeable automatic intensity modulator (RAIM) can automatically produce physical modulators by molding a deformable high x-ray attenuation material using a matrix of computer-controlled pistons. RAIM can potentially eliminate the limitations of traditional physical modulators. The present study addresses the treatment planning considerations of RAIM for IMRT. In this study, a 3D treatment-planning system (PLUNC) was modified to include the capability of providing treatment planning using RAIM. Two clinically representative cases were studied: nasopharyngeal and prostate tumors. First, the RAIM system with two different spatial resolutions at isocenter, 1 x 1 cm2 and 0.5 x 0.5 cm2, were evaluated. The treatment planning results of RAIM were then compared with other IMRT techniques such as smooth modulator with ideal (100%-2%) and limited (100%-13%) intensity modulation ranges, segmental multi-leaf collimator (SMLC) with ten intensity levels, 1 cm leaf width and 0.5 cm step size and serial tomotherapy using the Peacock system. Bringing the spatial resolution of RAIM down to 0.5 x 0.5 cm2 did not show improvement due to the effect of penumbra. The RAIM system with 1 x 1 cm2 proved slightly inferior as compared to the ideal smooth physical modulator but better than the SMLC technique and the smooth modulator with limited modulation range. When compared to serial tomotherapy, RAIM is only inferior in brain stem sparing for the nasopharynx case. Furthermore, the RAIM system with 1 x 1 cm2 resolution required significantly lower monitor units as compared to the other IMRT techniques for the two cases studied.

Treatment plan optimization incorporating respiratory motion

Similar to conventional conformal radiotherapy, during lung tomotherapy, a motion margin has to be set for respiratory motion. Consequently, large volume of normal tissue is irradiated by intensive radiation. To solve this problem, we have developed a new motion mitigation method by incorporating target motion into treatment optimization. In this method, the delivery-breathing correlation is determined prior to treatment plan optimization. Beamlets are calculated by using the CT images at the corresponding breathing phases from a dynamic (four-dimensional) image sequence. With the displacement vector fields at different breathing phases, a set of deformed beamlets is obtained by mapping the dose to the primary phase. Optimization incorporating motion is then performed by using the deformed beamlets obtained by dose mapping. During treatment delivery, the same breathing-delivery correlation can be reproduced by instructing the patient to breathe following a visually displayed guiding cycle. This method was tested using a computer-simulated deformable phantom and a real lung case. Results show that treatment optimization incorporating motion achieved similar high dose conformality on a mobile target compared with static delivery. The residual motion effects due to imperfect breathing tracking were also analyzed.

Is tomotherapy the future of IMRT?

Intensity-modulated radiotherapy (IMRT) has become established in many clinics round the world and is, arguably, technically feasible in any facility. Serial tomotherapy contributed an extensive role in its introduction into the mainstream in the second half of the 1990s. In tomotherapy, literally "slice therapy", highly conformal treatments are possible because of the advantages available within the treatment planning of the IMRT process. Currently the majority of clinics implementing IMRT are doing so using conventional clinical linear accelerators (Linacs) fitted with an integrated multileaf collimator (MLC). At this point in time we may wonder if there is any scope for further dramatic changes in this new technology. As we venture from IMRT initial implementation into image guided therapy it is clear that major changes in approach are still valid and needed. If, at each treatment fraction, we can ensure that treatments are delivered accurately by integration of volumetric imaging into on-line validation, then we can attempt higher levels of conformality. A new treatment machine, the helical tomotherapy system, is available that combines the benefits of tomotherapy with on-line volumetric imaging. In this article we will review this approach and explore its features.

Quantitative measurement of MLC leaf displacements using an electronic portal image device

The success of an IMRT treatment relies on the positioning accuracy of the MLC (multileaf collimator) leaves for both step-and-shoot and dynamic deliveries. In practice, however, there exists no effective and quantitative means for routine MLC QA and this has become one of the bottleneck problems in IMRT implementation. In this work we present an electronic portal image device (EPID) based method for fast and accurate measurement of MLC leaf positions at arbitrary locations within the 40 cm x 40 cm radiation field. The new technique utilizes the fact that the integral signal in a small region of interest (ROI) is a sensitive and reliable indicator of the leaf displacement. In this approach, the integral signal at a ROI was expressed as a weighted sum of the contributions from the displacements of the leaf above the point and the adjacent leaves. The weighting factors or linear coefficients of the system equations were determined by fitting the integral signal data for a group of pre-designed MLC leaf sequences to the known leaf displacements that were intentionally introduced during the creation of the leaf sequences. Once the calibration is done, the system can be used for routine MLC leaf positioning QA to detect possible leaf errors. A series of tests was carried out to examine the functionality and accuracy of the technique. Our results show that the proposed technique is potentially superior to the conventional edge-detecting approach in two aspects: (i) it deals with the problem in a systematic approach and allows us to take into account the influence of the adjacent MLC leaves effectively; and (ii) it may improve the signal-to-noise ratio and is thus capable of quantitatively measuring extremely small leaf positional displacements. Our results indicate that the technique can detect a leaf positional error as small as 0.1 mm at an arbitrary point within the field in the absence of EPID set-up error and 0.3 mm when the uncertainty is considered. Given its simplicity, efficiency and accuracy, we believe that the technique is ideally suitable for routine MLC leaf positioning QA.

Daily target localization for prostate patients based on 3D image correlation

There are several localization techniques that have been used for prostate treatment. Recently, the potential use of a variety of CT-based equipment in the treatment room has been discussed. The goal of our study was to develop an automated procedure for daily treatment table shift calculation based on two CT data sets: simulation CT data and localization CT data. The method suggested in this study is a 3D image cross-correlation of small regions of interest (ROI) within the two data sets. The relative position of the two ROIs with respect to each other is determined by the maximum value of the normalized cross-correlation function, calculated for all possible relative locations of the two ROIs. After the best match is found the shifts are given by the vector connecting the treatment isocentre and the planning isocentre (both determined by the radio opaque fiducial markers on the patient's skin). The results have been compared with shifts calculated through manual fusion. The shift differences, averaged over 17 statistically independent shift calculations, are less then 1 mm in the lateral and longitudinal directions, and about 1 mm in the AP direction. The impact of image noise on the performance of the algorithm has been tested. The results show that the algorithm accurately adjusts for target positional changes even with Gaussian noise levels as high as 20% inserted.

Radiation characteristics of helical tomotherapy

Helical tomotherapy is a dedicated intensity modulated radiation therapy (IMRT) system with on-board imaging capability (MVCT) and therefore differs from conventional treatment units. Different design goals resulted in some distinctive radiation field characteristics. The most significant differences in the design are the lack of flattening filter, increased shielding of the collimators, treatment and imaging operation modes and narrow fan beam delivery. Radiation characteristics of the helical tomotherapy system, sensitivity studies of various incident electron beam parameters and radiation safety analyses are presented here. It was determined that the photon beam energy spectrum of helical tomotherapy is similar to that of more conventional radiation treatment units. The two operational modes of the system result in different nominal energies of the incident electron beam with approximately 6 MeV and 3.5 MeV in the treatment and imaging modes, respectively. The off-axis mean energy dependence is much lower than in conventional radiotherapy units with less than 5% variation across the field, which is the consequence of the absent flattening filter. For the same reason the transverse profile exhibits the characteristic conical shape resulting in a 2-fold increase of the beam intensity in the center. The radiation leakage outside the field was found to be negligible at less than 0.05% because of the increased shielding of the collimators. At this level the in-field scattering is a dominant source of the radiation outside the field and thus a narrow field treatment does not result in the increased leakage. The sensitivity studies showed increased sensitivity on the incident electron position because of the narrow fan beam delivery and high sensitivity on the incident electron energy, as common to other treatment systems. All in all, it was determined that helical tomotherapy is a system with some unique radiation characteristics, which have been to a large extent optimized for intensity modulated delivery.

Fast treatment plan modification with an over-relaxed Cimmino algorithm

A method to quickly modify a treatment plan in adaptive radiotherapy was proposed and studied. The method is based on a Cimmino-type algorithm in linear programming. The fast convergence speed is achieved by over-relaxing the algorithm relaxation parameter from its sufficient convergence range of (0, 2) to (0, infinity). The algorithm parameters are selected so that the over-relaxed Cimmino (ORC) algorithm can effectively approximate an unconstrained re-optimization process in adaptive radiotherapy. To demonstrate the effectiveness and flexibility of the proposed method in adaptive radiotherapy, two scenarios with different organ motion/deformation of one nasopharyngeal case were presented with comparisons made between this method and the re-optimization method. In both scenarios, the ORC algorithm modified treatment plans have dose distributions that are similar to those given by the re-optimized treatment plans. It takes us using the ORC algorithm to finish a treatment plan modification at least three times faster than the re-optimization procedure compared.

Practical experience with intensity-modulated radiotherapy

At the Ipswich Hospital implementation of intensity-modulated radiotherapy (IMRT) commenced in February 2001 based on an established 3D conformal radiotherapy (3D CRT) service. This paper describes our experiences as we commissioned a fully-integrated IMRT planning and delivery system, and established IMRT within the department. Commissioning measurements incorporated a series of tests to ensure the integrity of the system and form the basis of routine quality assurance (QA) procedures. Potential IMRT patients proceeded through pre-treatment in the same way as standard 3D CRT patients. All were dual-planned for IMRT and 3D CRT with no change in established fractionation regimen, and the resulting plans evaluated. IMRT was selected for treatment where it offered a significant advantage by improving dose homogeneity and conformity within the target volume and/or reducing dose to organs at risk. Extensive pre-treatment verification was undertaken on all plans to check dynamic multileaf collimator (MLC) delivery and monitor unit calculation. Patients were monitored throughout treatment with amorphous silicon electronic portal imaging to ensure reproducibility of set-up. Between June 2001 and June 2003 21 patients were treated with inverse-planned IMRT to sites within the head and neck and lung. IMRT has enabled precise delivery to irregular shaped target volumes, avoiding organs at risk and enabling doses to be increased to radical levels in some cases. Additionally over 200 CT scanned breast patients were treated with forward-planned electronic compensation delivered by dynamic MLC, improving dose homogeneity within the breast volume compared with standard wedged plans. The IMRT programme will continue at the Ipswich Hospital with the introduction of further clinical sites and adoption of more aggressive fractionation regimens within the confines of multicentre clinical trials.

Clinical helical tomotherapy commissioning dosimetry

Helical tomotherapy presented many unique dosimetric challenges and solutions during the initial commissioning process, and some of them are presented. The dose calculation algorithm is convolution/superposition based. This requires that the energy fluence spectrum and magnitude be quantified. The methodology for doing so is described. Aspects of the energy fluence characterization that are unique to tomotherapy are highlighted. Many beam characteristics can be measured automatically by an included megavoltage computed tomography imaging system. This greatly improves data collection efficiency.

The physical basis of IMRT and inverse planning

Intensity-modulated radiation therapy (IMRT) can sculpt the high-dose volume around the site of disease with hitherto unachievable precision. Conformal avoidance of normal tissues goes hand in hand with this. Inhomogeneous dose painting is possible. The technique has become a clinical reality and is likely to be the dominant approach this decade for improving the clinical practice of photon therapy. This Series will explore all aspects of the "IMRT chain". Only 15 years ago just a handful of physicists were working on this subject. IMRT has developed so rapidly that its recent past is also its ancient history. This article will review the history of IMRT with just a glance at precursors. The physical basis of IMRT is then described including an attempt to introduce the concepts of convex and concave dose distributions, ill-conditioning, inverse-problem degeneracy, cost functions and complex solutions all with a minimum of technical jargon or mathematics. The many techniques for inverse planning are described and the review concludes with a look forward to the future of image-guided IMRT (IG-IMRT).

Comparison of dose calculation algorithms with Monte Carlo methods for photon arcs

The objective of this study is to seek an accurate and efficient method to calculate the dose distribution of a photon arc. The algorithms tested include Monte Carlo, pencil beam kernel (PK), and collapsed cone convolution (CCC). For the Monte Carlo dose calculation, EGS4/DOSXYZ was used. The SRCXYZ source code associated with the DOSXYZ was modified so that the gantry angle of a photon beam would be sampled uniformly within the arc range about an isocenter to simulate a photon arc. Specifically, photon beams (6/18 MV, 4 x 4 and 10 x 10 cm2) described by a phase space file generated by BEAM (MCPHS), or by two point sources with different photon energy spectra (MCDIV) were used. These methods were used to calculate three-dimensional (3-D) distributions in a PMMA phantom, a cylindrical water phantom, and a phantom with lung inhomogeneity. A commercial treatment planning system was also used to calculate dose distributions in these phantoms using equivalent tissue air ratio (ETAR), PK and CCC algorithms for inhomogeneity corrections. Dose distributions for a photon arc in these phantoms were measured using a RK ion chamber and radiographic films. For homogeneous phantoms, the measured results agreed well (approximately 2% error) with predictions by the Monte Carlo simulations (MCPHS and MCDIV) and the treatment planning system for the 180 degrees and 360 degrees photon arcs. For the dose distribution in the phantom with lung inhomogeneity with a 90 degrees photon arc, the Monte Carlo calculations agreed with the measurements within 2%, while the treatment planning system using ETAR, PK and CCC underestimated or overestimated the dose inside the lung inhomogeneity from 6% to 12%.

Treatment plan modification using voxel-based weighting factors/dose prescription

Under various clinical situations, it is desirable to modify the original treatment plan to better suit the clinical goals. In this work, a method to help physicians modify treatment plans based on their clinical preferences is proposed. The method uses a weighted quadratic dose objective function. The commonly used organ-/ROI-based weighting factors are expanded to a set of voxel-based weighting factors in order to obtain greater flexibility in treatment plan modification. Two different but equivalent modification schemes based on Rustem's quadratic programming algorithms--modification of a weighting matrix and modification of prescribed doses--are presented. Case studies demonstrated the effectiveness of the two methods with regard to their capability to fine-tune treatment plans.

Optimization of helical tomotherapy treatment plans for prostate cancer

Helical tomotherapy (HT) is a novel treatment approach where the ring gantry irradiation geometry of a helical CT scanner is combined with an intensity-modulated megavoltage x-ray fan beam. An inverse treatment planning system (TomoTherapy Inc., Madison) was used to optimize the treatment plans for ten randomly selected prostate patients. Five different sets of margins (2, 5, 7.5 and 10 mm uniform 3D margins and a non-uniform margin of 5 to 10 mm) were employed for the prostate (GTV2) and seminal vesicles (GTV1). The dose distribution was evaluated in targets, rectum, bladder and femoral heads. HT plans are characterized by a rapid dose fall off around the target in all directions resulting in low doses (less than 30% of the dose at ICRU reference point) to the femurs in all cases. Up to a margin of 5 mm for target structures, it was always possible to satisfy the requirements for dose delivery set by RTOG protocol P-0126. Using a 'class solution', HT plans require minimal operator interaction and result in excellent sparing of normal structures in prostate radiotherapy.

The method of intercepts in parameter space for the analysis of local minima caused by dose-volume constraints

The local minima problem in radiotherapy optimization has been a concern for both researchers and physicians. In this work, local minima induced by dose-volume histogram (DVH) constraints are discussed. The non-convex property of the feasible set formed by DVH constraints is discussed in beam weight space. An intuitive explanation of the origin of this type of local minima is given by a two-beam model setup. Some interesting properties and insights about the DVH-induced local minima are found. Based on this, a heuristic non-random initial guess sampling method is proposed and applied to a clinical nasopharyngeal case, where some significantly different local minima are located.

Evaluation of mechanical precision and alignment uncertainties for an integrated CT/LINAC system

A new integrated CT/LINAC combination, in which the CT scanner is inside the radiation therapy treatment room and the same patient couch is used for CT scanning and treatment (after a 180-degree couch rotation), should allow for accurate correction of interfractional setup errors. The purpose of this study was to evaluate the sources of uncertainties, and to measure the overall precision of this system. The following sources of uncertainty were identified: (1) the patient couch position on the LINAC side after a rotation, (2) the patient couch position on the CT side after a rotation, (3) the patient couch position as indicated by its digital readout, (4) the difference in couch sag between the CT and LINAC positions, (5) the precision of the CT coordinates, (6) the identification of fiducial markers from CT images, (7) the alignment of contours with structures in the CT images, and (8) the alignment with setup lasers. The largest single uncertainties (one standard deviation or 1 SD) were found in couch position on the CT side after a rotation (0.5 mm in the RL direction) and the alignment of contours with the CT images (0.4 mm in the SI direction). All other sources of uncertainty are less than 0.3 mm (1 SD). The overall precision of two setup protocols was investigated in a controlled phantom study. A protocol that relies heavily on the mechanical integrity of the system, and assumes a fixed relationship between the LINAC isocenter and the CT images, gave a predicted precision (1 SD) of 0.6, 0.7, and 0.6 mm in the SI, RL and AP directions, respectively. The second protocol reduces reliance on the mechanical precision of the total system, particularly the patient couch, by using radio-opaque fiducial markers to transfer the isocenter information from the LINAC side to the CT images. This protocol gave a slightly improved predicted precision of 0.5, 0.4, and 0.4 mm in the SI, RL and AP directions, respectively. The distribution of phantom position after CT-based correction confirmed these results. Knowledge of the individual sources of uncertainty will allow alternative setup protocols to be evaluated in the future without the need for significant additional measurements.

Benchmarking beam alignment for a clinical helical tomotherapy device

A clinical helical tomotherapy treatment machine has been installed at the University of Wisconsin Comprehensive Cancer Center. Beam alignment has been finalized and accepted by UW staff. Helical tomotherapy will soon be clinically available to other sites. Clinical physicists who expect to work with this machine will need to be familiar with its unique dosimetric characteristics, and those related to the geometrical beam configuration and its verification are described here. A series of alignment tests and the results are presented. Helical tomotherapy utilizes an array of post-patient xenon-filled megavoltage radiation detectors. These detectors have proved capable of performing some alignment verification tests. That is particularly advantageous because those tests can then be automated and easily performed on an ongoing basis.

Aperture modulated arc therapy

We show that it is possible to translate an intensity modulated radiation therapy (IMRT) treatment plan and deliver it as a single arc. This technique is referred to in this paper as aperture modulation arc therapy (AMAT). During this arc, the MLC leaves do not conform to the projection of the target PTV and the machine output of the accelerator has a constant value. Dose was calculated using the CORVUS 4.0 IMRT system, which uses a pencil beam dose algorithm, and treatments were delivered using a Varian 2100C/D Clinac. Results are presented for a head and neck and a prostate case, showing the equivalence of the IMRT and the translated AMAT delivery. For a prostate AMAT delivery, coronal plane film dose for the IMRT and AMAT deliveries agreed within 7.19 +/- 6.62%. For a meningioma the coronal plane dose distributions were similar to a value of 4.6 +/- 6.62%. Dose to the isocentre was measured as being within 2% of the planned value in both cases.

The evolution of quality assurance for intensity- modulated radiation therapy (IMRT): sequential tomotherapy

PURPOSE

To identify the pertinent issues to be addressed in successfully implementing IMRT using sequential tomotherapy into clinical reality and presenting the maturation of quality assurance (QA) programs for both the delivery system and patient treatments that allow routine clinical use of the system.

MATERIALS AND METHODS

Initially, a cubic phantom containing silver halide film was exposed to the entire treatment before patient treatment. The processed films were digitized with a laser densitometer and the dose distributions were compared with that generated by the planning system. Later, software that calculates the dose delivered to any phantom employing the intensity patterns developed in the inverse planning system for an individual patient was implemented for point checks of dose. A measurement phantom for use with this software was developed and evaluated on a large number of patients. Invasive fixation was used for all cranial patients initially. To use sequential tomotherapy for other sites and larger targets, noninvasive immobilization systems using two types of thermoplastic masks for cranial targets and reusable, evacuated body cradles were evaluated for positional accuracy and suitability for use with port films for patient QA.

RESULTS

The program for equipment validation is divided into daily, weekly, and monthly programs that add only small amounts of time to routine QA programs. For the first 15 patients treated with this modality, the maximum dose measured on the film was within 5% of that predicted by the planning computer. The prescription isodose line was measured in the anteroposterior and lateral dimensions and the average discrepancy between measured and predicted was less than 2 mm. For an isodose line between 50% and 70% of the prescribed dose, the agreement was better than 3 mm. Success with the volume QA program was followed by a point check QA program that reduced the time required for individual patient QA from days to hours. Phantom measurements compared with computer predictions for 588 data points resulted in only 8% being outside a +/-5% criterion. These cases were identified and allow a further reduction in the frequency of tests. Thermoplastic mask materials have adequate restraint characteristics for use with the system and port films on 21 patients resulted in one standard deviation = 1.3 mm. Body cradles are less accurate and require more frequent port films. A QA system that reduces the frequency of port films was developed.

CONCLUSIONS

The evolution of sequential tomotherapy in our department has been from a maximum of 3 cranial patients per day with invasive fixation to 60 patients per day for treatment of cranial, head-and-neck, and prostate tumors using different immobilization techniques. With proper preparation and refinement of tools used in commissioning and validation, sequential tomotherapy IMRT can become a routine clinical treatment modality.

Image guidance for precise conformal radiotherapy

PURPOSE

To review the state of the art in image-guided precision conformal radiotherapy and to describe how helical tomotherapy compares with the image-guided practices being developed for conventional radiotherapy.

MATERIALS AND METHODS

Image guidance is beginning to be the fundamental basis for radiotherapy planning, delivery, and verification. Radiotherapy planning requires more precision in the extension and localization of disease. When greater precision is not possible, conformal avoidance methodology may be indicated whereby the margin of disease extension is generous, except where sensitive normal tissues exist. Radiotherapy delivery requires better precision in the definition of treatment volume, on a daily basis if necessary. Helical tomotherapy has been designed to use CT imaging technology to plan, deliver, and verify that the delivery has been carried out as planned. The image-guided processes of helical tomotherapy that enable this goal are described.

RESULTS

Examples of the results of helical tomotherapy processes for image-guided intensity-modulated radiotherapy are presented. These processes include megavoltage CT acquisition, automated segmentation of CT images, dose reconstruction using the CT image set, deformable registration of CT images, and reoptimization.

CONCLUSIONS

Image-guided precision conformal radiotherapy can be used as a tool to treat the tumor yet spare critical structures. Helical tomotherapy has been designed from the ground up as an integrated image-guided intensity-modulated radiotherapy system and allows new verification processes based on megavoltage CT images to be implemented.

Inverse planning for intensity-modulated arc therapy using direct aperture optimization

Intensity-modulated arc therapy (IMAT) is a radiation therapy delivery technique that combines gantry rotation with dynamic multi-leaf collimation (MLC). With IMAT, the benefits of rotational IMRT can be realized using a conventional linear accelerator and a conventional MLC. Thus far, the advantages of IMAT have gone largely unrealized due to the lack of robust automated planning tools capable of producing efficient IMAT treatment plans. This work describes an inverse treatment planning algorithm, called 'direct aperture optimization' (DAO) that can be used to generate inverse treatment plans for IMAT. In contrast to traditional inverse planning techniques where the relative weights of a series of pencil beams are optimized, DAO optimizes the leaf positions and weights of the apertures in the plan. This technique allows any delivery constraints to be enforced during the optimization, eliminating the need for a leaf-sequencing step. It is this feature that enables DAO to easily create inverse plans for IMAT. To illustrate the feasibility of DAO applied to IMAT, several cases are presented, including a cylindrical phantom, a head and neck patient and a prostate patient.

Treatment planning for stereotactic radiosurgery with photon beams

Stereotactic Radiosurgery (SRS) has evolved as a unique discipline that combines aspects of both surgery and radiation oncology. Technological developments in the past few decades have provided a wide array of treatment techniques, including (i) the Gamma Knife; (ii) Linac-based stereotactic techniques using circular collimators or using micro multileaf collimators (mMLCs); (iii) the Cyber Knife, using an x-band linac mounted on a robotic arm; and (iv) serial and spiral tomotherapy. This paper provides a review of the treatment planning methods for stereotactic radiosurgery. Because of the differences in planning strategies used for each SRS technique, this paper will provide both a general review of the pre-requisites and common features of SRS treatment planning and the planning techniques specific to each of the SRS techniques.

Megavoltage cone-beam computed tomography using a high-efficiency image receptor

PURPOSE

To develop an image receptor capable of forming high-quality megavoltage CT images using modest radiation doses.

METHODS AND MATERIALS

A flat-panel imaging system consisting of a conventional flat-panel sensor attached to a thick CsI scintillator has been fabricated. The scintillator consists of individual CsI crystals 8 mm thick by 0.38 mm x 0.38-mm pitch. Five sides of each crystal are coated with a reflecting powder/epoxy mixture, and the sixth side is in contact with the flat-panel sensor. A timing interface coordinates acquisition by the imaging system and pulsing of the linear accelerator. With this interface, as little as one accelerator pulse (0.023 cGy at the isocenter) can be used to form projection images. Different CT phantoms irradiated by a 6-MV X-ray beam have been imaged to evaluate the performance of the imaging system. The phantoms have been mounted on a rotating stage and rotated while 360 projection images are acquired in 48 s. These projections have been reconstructed using the Feldkamp cone-beam CT reconstruction algorithm.

RESULTS AND DISCUSSION

Using an irradiation of 16 cGy (360 projections x 0.046 cGy/projection), the contrast resolution is approximately 1% for large objects. High-contrast structures as small as 1.2 mm are clearly visible. The reconstructed CT values are linear (R(2) = 0.98) for electron densities between 0.001 and 2.16 g/cm(3), and the reconstruction time for a 512 x 512 x 512 data set is 6 min. Images of an anthropomorphic phantom show that soft-tissue structures such as the heart, lung, kidneys, and liver are visible in the reconstructed images (16 cGy, 5-mm-thick slices).

CONCLUSIONS

The acquisition of megavoltage CT images with soft-tissue contrast is possible with irradiations as small as 16 cGy.

Reduction in radiation dose to lung and other normal tissues using helical tomotherapy to treat lung cancer, in comparison to conventional field arrangements

The purpose of this study was to determine whether the use of tomotherapy in the treatment of non-small-cell lung cancer (NSCLC) has the potential to reduce radiation dose to normal tissues, in particular, the lungs, esophagus, and spinal cord, as compared with standard radiotherapy. Five patients with anatomically or physiologically inoperable stage III NSCLC were studied, representing a variety of tumor sizes and locations. For each patient, two treatment plans were generated. One was developed using conventional field arrangements (CFA), and the other for tomotherapy. Using dose-volume histogram reduction techniques, including mean normalized dose (NTDmean), V20, and effective uniform dose (EUD), the normal tissue doses for CFA and tomotherapy plans for a given fixed tumor dose were compared. In addition, the maximum tumor doses possible for a given level of mean normalized lung dose were computed and compared for the CFA and tomotherapy plans. The gross tumor volumes in the five patients studied ranged from 13.5 to 87.1 cm. The tumor dose distributions, determined by EUD and minimum dose, were similar for both CFA and tomotherapy plans, as intended. In all cases, the NTDmean of both lungs was significantly reduced using tomotherapy planning (range: 10-53% reduction, mean: 31%). The volume of lung receiving more than 20 Gy was also reduced in all cases using tomotherapy (range: 17-37% reduction, mean: 22%). For a constant lung NTDmean, it is shown that it should be possible to increase tumor dose to up to 160 Gy in certain patients with tomotherapy. The dose to the spinal cord and esophagus was also reduced in all cases with tomotherapy planning, compared with plans generated using conventional field arrangements. Both tomotherapy, and to a lesser extent conventional three-dimensional conformal radiotherapy, have the potential to significantly decrease radiation dose to lung and other normal structures in the treatment of NSCLC. This has important implications for dose escalation strategies in the future.

Optimal stochastic correction strategies for rigid-body target motion

PURPOSE

To derive optimal correction strategies for setup errors, including the uncertainty in their measurement, and to analyze their impact on treatment margins.

METHODS AND MATERIALS

New concepts like image-guided radiotherapy aim to provide an increasing amount of targeting information during treatment. Future treatment devices incorporating imaging capabilities will facilitate frequent correction of treatment setup errors. It is, therefore, possible to design new correction protocols that reduce not only systematic but also random setup errors. A novel, very general approach to developing optimal correction strategies in the presence of measurement uncertainties is derived from linear systems theory. In the simplest approach, the state variable of the system, which represents the patient, is the spatial displacement of the center-of-mass of the clinical target volume with respect to the planning CT. This displacement is the sum of a systematic and a random component. Uncertainties in the measured value of the state variable due to the measurement process, image processing technique, or organ deformation are naturally incorporated into a linear system. The true value of the displacement can be estimated from the noisy measurements with a stochastic filter (Kalman filter). These estimates provide an optimal control law for the system and therefore optimal values for the setup corrections. In the case of unknown systematic and random error variances, an adaptive version of the filter was implemented. The statistical properties of the filter were investigated by performing simulations of the state space model and assessed for individual patients and a large patient population subject to different action criteria.

RESULTS

Over a patient population, the corrections by the Kalman filter estimates are always advantageous compared with the corrections by the measured values themselves. For a small percentage of individual patients, however, the Kalman corrections worsen the results. For large measurement error, the residual standard deviation of the random setup errors can be reduced by approximately 28% for over 90% of the patients. The uncertainty in the measured value impairs the ability to completely account for uncertainties.

CONCLUSIONS

The Kalman estimates provide an effective means to perform daily setup corrections in the presence of measurement errors. The linear system approach is very versatile and can be extended to more general state variables.