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

Megavoltage CT image reconstruction during tomotherapy treatments

An integrated tomotherapy system allows for improved radiotherapy verification by enabling the collection of megavoltage computed tomography (MVCT) images before or after treatment delivery. In this investigation, the possibility of collecting MV tomographic data and reconstructing images during a tomotherapy treatment is examined. By overcoming difficulties with the normalization of modulated treatment data and with the incompleteness of treatment data, it is possible to use data collected during tomotherapeutic treatments for MVCT reconstruction. The benefits of these techniques include potential increases in patient throughput, reductions in imaging dose, visualization of the patient in the treatment position and improvements in image contrast.

What is the optimum leaf width of a multileaf collimator?

The following question is investigated: How narrow do the leaves of a multileaf collimator have to be such that further reduction of the leaf width does not lead to physical improvements of the dose distribution. Because of the physical principles of interaction between radiation and matter, dose distributions in radiotherapy are generally relatively smooth. According to the theory of sampling, the dose distribution can therefore be represented by a set of evenly spaced samples. The distance between the samples is identified with the distance between the leaf centers of a multileaf collimator. The optimum sampling distance is derived from the 20% to 80% field edge penumbra through the concept of the dose deposition kernel, which is approximated by a Gaussian. The leaf width of the multileaf collimator is considered to be independent from the sampling distance. Two cases are studied in detail: (i) the leaf width equals the sampling distance, which is the regular case, and (ii) the leaf width is twice the sampling distance. The practical delivery of the latter treatment geometry requires a couch movement or a collimator rotation. The optimum sampling distance equals the 20%-80% penumbra divided by 1.7 and is on the order of 1.5-2 mm for a typical 6 MV beam in soft tissue. The optimum leaf width equals this sampling distance in the regular case. A relatively small deterioration results if the leaf width is doubled, while the sampling distance remains the same. The deterioration can be corrected for by deconvolving the fluence profile with an inverse filter.

CONCLUSIONS

With the help of the sampling theory and, more generally, the theory of linear systems, one can find a general answer to the question about the optimum leaf width of a multileaf collimator from a physical point of view. It is important to distinguish between the sampling distance and the leaf width. The sampling distance is more critical than the leaf width. The leaf width can be up to twice as large as the sampling width. Furthermore, the derived sampling distance can be used to select the optimum resolution of both the fluence and the dose grid in dose calculation and inverse planning algorithms.

[Conformal radiotherapy: tomotherapy]

Conformal radiation therapy allows the possibility of delivering high doses at the tumor volume whilst limiting the dose to the surrounding tissues and diminishing the secondary effects. With the example of the conformal radiation therapy used at the AZ VUB (3DCRT and tomotherapy), two treatment plans of a left ethmoid carcinoma will be evaluated and discussed in detail. The treatment of ethmoid cancer is technically difficult for both radiation therapy and surgery because of the anatomic constraints and patterns of local spread. A radiation therapy is scheduled to be delivered after surgical resection of the tumor. The treatment plan for the radiation therapy was calculated on a three-dimensional (3D) treatment planning system based on virtual simulation with a beam's eye view: George Sherouse's Gratis. An effort was made to make the plan as conformal and as homogeneous as possible to deliver a dose of 66 Gy in 33 fractions at the tumor bed with a maximum dose of 56 Gy to the right optic nerve and the chiasma. To establish the clinical utility and potential advantages of tomotherapy over 3DCRT for ethmoid carcinoma, the treatment of this patient was also planned with Peacock Plan. For both treatment plans the isodose distributions and cumulative dose volume histograms (CDVH) were computed. Superimposing the CDVHs yielded similar curves for the target and an obvious improvement for organs at risk such as the chiasma, brainstem and the left eye when applying tomotherapy. These results have also been reflected in the tumor control probabilities (equal for both plans) and the normal tissue complication probabilities (NTCP), yielded significant reductions in NTCP for tomotherapy. The probability of uncomplicated tumor control was 52.7% for tomotherapy against 38.3% for 3DCRT.

Imaging in radiotherapy

Radiotherapy, more then any other treatment modality, relies heavily and often exclusively on medical imaging to determine the extent of disease and the spatial relation between target region and neighbouring healthy tissues. Radically new approaches to radiation delivery are inspired on CT scanning and treat patients in a slice-by-slice fashion using intensity modulated megavoltage fan beams. For quality assurance of complex 3-D dose distributions, MR based 3-D verificative dosimetry on irradiated phantoms has been described. As treatment delivery becomes increasingly refined, the need for accurate target definition increases as well and sophisticated imaging tools like image fusion and 3-D reconstruction are routinely used for treatment planning. While in the past patients were positioned on the treatment machines based exclusively on surface topography and the well-known skin marks, such approach is no longer sufficient for high-accuracy radiotherapy and special imaging tools like on-line portal imaging are used to verify and correct target positioning. Much of these applications rely on digital image processing, transmission and storage, and the development of standards, like DICOM and PACS have greatly contributed to these applications. Digital imaging plays an increasing role in many areas in radiotherapy and has been fundamental in new developments that have demonstrated impact on patient care.

Shielding considerations for tomotherapy

Tomotherapy presents an evolutionary modality that holds forth the promise of better dose conformation to tumor volumes with a concomitant reduction in radiation-induced damage to surrounding normal structures. This delivery technique also presents a new set of radiation protection challenges that impact upon the design of the shielding vault required to house such a unit. A formalism is presented to determine the requisite amounts of shielding for both the primary beam and leakage radiation associated with a generic tomotherapy unit. A comparison is made with the shielding requirements for a conventional linear accelerator operated in a standard manner. Substantial differences in the amount of both primary and secondary shielding are indicated. A tomotherapy primary beam shield is both reduced in width by a factor of almost 10 and increased in thickness by more than a tenth value layer in comparison to a conventional accelerator. Furthermore, the secondary shielding requirements are enhanced by more than two tenth value layers with respect to conventional shielding demands.

A method for determining multileaf collimator transmission and scatter for dynamic intensity modulated radiotherapy

The main purpose of this work is to demonstrate a practical means of determining the leaf transmission and scatter characteristics of a multileaf collimator (MLC) pertinent to the commissioning of dynamic intensity modulated radiotherapy, especially for the sweeping window technique. The data are necessary for the conversion of intensity distributions produced by intensity-modulated radiotherapy optimization systems into trajectories of MLC leaves for dynamic delivery. Measurements are described for two, tungsten alloy MLCs: a Mark II 80-leaf MLC on a Varian 2100C accelerator and a Millenium 120-leaf MLC on a Varian 2100EX accelerator. MLC leakage was measured by film for a series of field sizes. Measured MLC leakage was 1.68% for a 10 x 10 cm2 field for both 6 and 18 MV for the 80-leaf MLC. For the 6 MV field, the 1.68% leakage consisted of 1.48% direct transmission and 0.20% leaf scatter. Direct transmission through the 80-leaf MLC, including the rounded leaf tip, was calculated analytically taking into account the detailed leaf geometry and a Monte Carlo-generated energy spectrum of the accelerator. The integrated fluence under the leaf tip was equivalent to an inward shift of 0.06 cm of a hypothetical leaf with a flat, focused tip. Monte Carlo calculations of the dose to phantom beyond a closed 80-leaf MLC showed excellent agreement with the analytic results. The transmission depends on the density of the MLC alloy, which may differ among individual MLCs. Thus, it is important to measure the transmission of any particular MLC. Calculated doses for a series of uniform fields produced by dynamic sweeping windows of various widths agree with measurements within 2%.

Dose optimization for the treatment of anaplastic thyroid carcinoma: a comparison of treatment planning techniques

PURPOSE

To evaluate and compare dose optimization for the treatment of anaplastic thyroid carcinoma using a 3D conformal plan, and two 3D intensity-modulated inverse plans.

METHODS AND MATERIALS

After patient immobilization using an alpha cradle and head-mask system, a postoperative CT scan was obtained to delineate the gross tumor volume (GTV), the clinical tumor volume (CTV), and adjacent critical structures. Treatment plans were generated using UM-Plan (University of Michigan), PeacockPlan and Corvus (NOMOS Corporation, Sewickley, PA). Isodoses were displayed in the sagittal, coronal, and multiple axial planes, and dose-volume histograms (DVH) were generated for the GTV, CTV, and critical normal tissues. Treatment times were estimated to compare the practicality of delivering each plan in a busy radiotherapy department.

RESULTS

All three treatment planning systems were able to deliver a minimum dose of 60 Gy to the GTV while keeping the maximum spinal cord dose at or below 45 Gy. However, there were differences in the doses delivered to 50% and 5% of the cord, the minimum CTV dose, and the overall treatment time. The PeacockPlan best spared the uninvolved tissues of the posterior neck, and provided the lowest dose to the cord without compromising the CTV.

CONCLUSIONS

Inverse treatment planning provides superior dose optimization for the treatment of anaplastic thyroid carcinoma. The radiobiologic impact of intensity modulation for this tumor should be further tested clinically.

Advances in three-dimensional conformal radiation therapy physics with intensity modulation

Intensity-modulated radiation therapy, a specific form of conformal radiation therapy, is currently attracting a lot of attention, and there are high expectations for this class of treatment techniques. Several new technologies are in development, but physicists are still working to improve the physical basis of radiation therapy.

Intensity modulated arc therapy (IMAT) with centrally blocked rotational fields

A new technique for intensity-modulated beam (IMB) delivery that combines the features of intensity modulated arc therapy (IMAT) with the use of 'classical blocks' is proposed. The role of the blocks is to realize the high-gradient modulation of the intensity profile corresponding to the region to be protected within the body contour, while the MLC leaves or the secondary collimator defines the rest of the field and delivers intensity-modulated multiple rotational segments. The centrally blocked radiation fields are applied sequentially, in several rotations. Each rotation of the gantry is responsible for delivering one segment of the optimal intensity profile. The new IMAT technique is applied for a treatment geometry represented by an annular target volume centrally located within a circular body contour. The annulus encompasses a circular critical structure, which is to be protected. The beam opening and corresponding weight of each segment are determined in two ways. The first method applies a linear optimization algorithm to precalculated centrally blocked radial dose profiles. These radial profiles are calculated for a set of beam openings, ranging from the largest field that covers the whole planning target volume (PTV) to the smallest, which is 1 cm larger than the width of the central block. The optimization is subjected to dose homogeneity constraints imposed on a linear combination of these profiles and finally delivers the dimensions and weights of the rotational beams to be used in combination. The second method decomposes into several subfields the fluence profile of a rotational beam known to deliver a constant dose level to PTV. This fluence profile is determined by using the analytical method proposed by Brahme for the case of the annular PTV and the concentric organ at risk (OAR). The proper segmentation of this intensity profile provides the field sizes and corresponding weights of the subfields to be used in combination. Both methods show that for this particular treatment geometry, three to seven segments are sufficient to cover the PTV with the 95% dose level and to keep the dose level to the central critical structure under 30% of the maximum dose. These results were verified by experimentally delivering the calculated segments to radiotherapy verification films sandwiched between two cylindrical pieces of a pressed-wood phantom. The total beam time for a three-field irradiation was 77 s. The predicted and experimental dose profiles along the radius of the phantom agreed to within 5%. Generalization of this technique to real-patient treatment geometry and advantages over other conformal radiotherapy techniques are also discussed.

Radiation techniques for head and neck tumors

PURPOSE

A technique that combines some advantages of conforming techniques for advanced oro- and hypopharyngeal carcinomas is proposed. The aim is to increase the dose homogeneity in the target volume relative to lateral opposed fields.

METHODS AND MATERIALS

This publication compares conforming radiation techniques based on standard equipment, standard linear accelerator setup and commercially available planning software with lateral opposed fields. More advanced conformal techniques reported in the literature are taken into account in a semi-quantitative manner. Our standard method uses an arc rotation, sparing the spinal cord. In contrast to earlier methods of this type, the resulting dose deficit in the vicinity of the spine is compensated by static lateral wedged fields. Dose distributions for 25 consecutive patients were planned.

RESULTS

The conforming techniques were found to produce more homogeneous dose distributions than lateral opposed fields. In the planning target volume (PTV) (mean: 940 cm(3)) a standard deviation of dose of 4.6% was achieved. Ninety-five percent of the PTV were enclosed by the 90% isodose. The maximal spinal cord dose was limited to 45 Gy. The dose distributions of these techniques could compete with literature data on advanced techniques (the published dose-volume histogram (DVHs) of PTVs were evaluated). At the linear accelerator time for realization took 14 min on average. The planning time is 1-4 h (mean: less than 2 h).

CONCLUSION

A rotational technique applicable with standard equipment is presented. Dose coverage of target volumes is improved, while the spinal cord is spared.

Dosimetric effects of patient displacement and collimator and gantry angle misalignment on intensity modulated radiation therapy

PURPOSE AND OBJECTIVE

The primary goal of this study was to examine systematically the dosimetric effect of small patient movements and linear accelerator angular setting misalignments in the delivery of intensity modulated radiation therapy. We will also provide a method for estimating dosimetric errors for an arbitrary combination of these uncertainties.

MATERIALS AND METHODS

Sites in two patients (lumbar-vertebra and nasopharynx) were studied. Optimized intensity modulated radiation therapy treatment plans were computed for each patient using a commercially available inverse planning system (CORVUS, NOMOS Corporation, Sewickley, PA). The plans used nine coplanar beams. For each patient the dose distributions and relevant dosimetric quantities were calculated, including the maximum, minimum, and average doses in targets and sensitive structures. The corresponding dose volumetric information was recalculated by purposely varying the collimator angle or gantry angle of an incident beam while keeping other beams unchanged. Similar calculations were carried out by varying the couch indices in either horizontal or vertical directions. The intensity maps of all the beams were kept the same as those in the optimized plan. The change of a dosimetric quantity, Q, for a combination of collimator and gantry angle misalignments and patient displacements was estimated using Delta=Sigma(DeltaQ/Deltax(i))Deltax(i). Here DeltaQ is the variation of Q due to Deltax(i), which is the change of the i-th variable (collimator angle, gantry angle, or couch indices), and DeltaQ/Deltax(i) is a quantity equivalent to the partial derivative of the dosimetric quantity Q with respect to x(i).

RESULTS

While the change in dosimetric quantities was case dependent, it was found that the results were much more sensitive to small changes in the couch indices than to changes in the accelerator angular setting. For instance, in the first example in the paper, a 3-mm movement of the couch in the anterior-posterior direction can cause a 38% decrease in the minimum target dose or a 41% increase in the maximum cord dose, whereas a 5 degrees change in the θ(1)=20 degrees beam only gave rise to a 1.5% decrease in the target minimum or 5.1% in the cord maximum. The effect of systematic positioning uncertainties of the machine settings was more serious than random uncertainties, which tended to smear out the errors in dose distributions.

CONCLUSIONS

The dose distribution of an intensity modulated radiation therapy (IMRT) plan changes with patient displacement and angular misalignment in a complex way. A method was proposed to estimate dosimetric errors for an arbitrary combination of uncertainties in these quantities. While it is important to eliminate the angular misalignment, it was found that the couch indices (or patient positioning) played a much more important role. Accurate patient set-up and patient immobilization is crucial in order to take advantage fully of the technological advances of IMRT. In practice, a sensitivity check should be useful to foresee potential IMRT treatment complications and a warning should be given if the sensitivity exceeds an empirical value. Quality assurance action levels for a given plan can be established out of the sensitivity calculation.

Setup error in radiotherapy: on-line correction using electronic kilovoltage and megavoltage radiographs

PURPOSE

We hypothesize that the difference in image quality between the traditional kilovoltage (kV) prescription radiographs and megavoltage (MV) treatment radiographs is a major factor hindering our ability to accurately measure, thus correct, setup error in radiation therapy. The objective of this work is to study the accuracy of on-line correction of setup errors achievable using either kV- or MV-localization (i.e., open-field) radiographs.

METHODS AND MATERIALS

Using a gantry mounted kV and MV dual-beam imaging system, the accuracy of on-line measurement and correction of setup error using electronic kV- and MV-localization images was examined based on anthropomorphic phantom and patient imaging studies. For the phantom study, the user's ability to accurately detect known translational shifts was analyzed. The clinical study included 14 patients with disease in the head and neck, thoracic, and pelvic regions. For each patient, 4 orthogonal kV radiographs acquired during treatment simulation from the right lateral, anterior-to-posterior, left lateral, and posterior-to-anterior directions were employed as reference prescription images. Two-dimensional (2D) anatomic templates were defined on each of the 4 reference images. On each treatment day, after positioning the patient for treatment, 4 orthogonal electronic localization images were acquired with both kV and 6-MV photon beams. On alternate weeks, setup errors were determined from either the kV- or MV-localization images but not both. Setup error was determined by aligning each 2D template with the anatomic information on the corresponding localization image, ignoring rotational and nonrigid variations. For each set of 4 orthogonal images, the results from template alignments were averaged. Based on the results from the phantom study and a parallel study of the inter- and intraobserver template alignment variability, a threshold for minimum correction was set at 2 mm in any direction. Setup correction was applied by translating the treatment couch in the lateral, superior-to-inferior and vertical directions only. During treatment, kV open-field images were acquired for off-line treatment verification and analysis. Each patient study spanned 2-6 weeks. The 14 patient studies were completed with 8248 electronic images acquired and analyzed.

RESULTS

Results from the phantom studies showed that the users were able to detect the applied translational shift to better than 2 mm, and mostly to within 1 mm. The intraobserver variability of template alignment was on the order of 1 mm using a sample of either MV or kV patient images. The difference between using MV or kV images was significant for only a few cases. However in most cases, interobserver alignment variability was larger when using MV images than kV. For on-line setup correction, the study procedure added 10 min. to conventional treatment time. Setup variation measured with either kV- or MV-localization images was similar. The initial magnitude of setup error was appreciable, with a mean displacement of about 6.6 +/- 2.4 mm for the 14 patients. On-line correction using either kV- or MV-localization images improved setup accuracy. Over all study patients, setup errors occurred with standard deviations greater than 2 mm in any direction with a frequency of 48% before correction, and were reduced to 16% after correction. On average, kV image-based correction reduced radial setup variation to 2.6 +/- 1.6 mm compared to the 3.3 +/- 1.8 mm attained using MV images. The difference detected between the kV and MV data was not statistically significant when averaged over all patients. However, for on-line corrections in the neck and thoracic regions, using kV-localization images reduced setup error significantly more than using MV images.

CONCLUSIONS

In our anatomic template alignment study, interobserver variability was smaller using kV images than MV images. Intraobserver variability was smaller for alignments on kV images

Dose calculation and verification of intensity modulation generated by dynamic multileaf collimators

While the development of inverse planning tools for optimizing dose distributions has come to a level of maturity, intensity modulation has not yet been widely implemented in clinical use because of problems related to its practical delivery and a lack of verification tools and quality assurance (QA) procedures. One of the prerequisites is a dose calculation algorithm that achieves good accuracy. The purpose of this work was twofold. A primary-scatter separation dose model has been extended to account for intensity modulation generated by a dynamic multileaf collimator (MLC). Then the calculation procedures have been tested by comparison with carefully carried out experiments. Intensity modulation is being accounted for by means of a 2D (two-dimensional) matrix of correction factors that modifies the spatial fluence distribution, incident to the patient. The dose calculation for the corresponding open field is then affected by those correction factors. They are used in order to weight separately the primary and the scatter component of the dose at a given point. In order to verify that the calculated dose distributions are in good agreement with measurements on our machine, we have designed a set of test intensity distributions and performed measurements with 6 and 20 MV photons on a Varian Clinac 2300C/D linear accelerator equipped with a 40 leaf pair dynamic MLC. Comparison between calculated and measured dose distributions for a number of representative cases shows, in general, good agreement (within 3% of the normalization in low dose gradient regions and within 3 mm distance-to-dose in high dose gradient regions). For absolute dose calculations (monitor unit calculations), comparison between calculation and measurement reveals good agreement (within 2%) for all tested cases (with the condition that the prescription point is not located on a high dose gradient region).

Intensity modulated radiation therapy: a clinical review

Intensity modulated radiotherapy represents a significant advance in conformal radiotherapy. In particular, it allows the delivery of dose distributions with concave isodose profiles such that radiosensitive normal tissue close to, or even within a concavity of, a tumour may be spared from radiation injury. This article reviews the clinical application of this technique to date, and discusses the practical issues of treatment planning and delivery from the clinician's perspective.

Calibration of a tomotherapeutic MVCT system

Megavoltage CT provides the ability to image the patient before, during or after a radiotherapy treatment. This allows one to verify not only the placement of a patient's external boundary, but also the locations of internal anatomy. In addition, the reconstructed MVCT values are potentially useful for treatment planning inhomogeneity corrections and dose reconstruction. To this end, dosimetric calibration of the University of Wisconsin Tomotherapy Benchtop MVCT system was investigated. It was found that MVCT values correlate extremely well with electron density and that unlike kilovoltage CT, this correlation is well maintained for higher atomic number materials. Improvements of the order of 1% in the dosimetric calculations of high atomic number materials should be possible by deriving input images from MVCT as opposed to kVCT, and calibrating in terms of electron density, as opposed to physical density.

Detection of internal organ movement in prostate cancer patients using portal images

Previous research has indicated that the appearance of large gas pockets in portal images of prostate cancer patients might imply internal prostate motion. This was verified with simulations based on multiple computed tomography (CT) data for 15 patients treated in supine position. Apart from the planning CT scan, three extra scans were made during treatment. The clinical target volume (CTV) and the rectum were outlined in all scans. Lateral portal images were simulated from the CT data and difference images were calculated for all possible combinations of CT scans per patient; each scan was used both as reference and repeat scan but gas pockets in the reference scan were removed. Gas pockets in a repeat CT scan then show up as black areas in a difference image. Due to gravity, they normally appear in the ventral part of the rectum. The distances between the ventral edge of a gas pocket in a difference image and the projection of the delineated ventral rectum wall in the reference scan were calculated. These distances were correlated with the "true" rectum wall shifts (determined from direct comparison of the rectum delineations in reference and repeat scan) and with CTV movements determined by three-dimensional chamfer matching. Gas pockets occurred in 23% of cases. Nevertheless, about 50% of rectum wall shifts larger than 5 mm could be detected because they were associated with gas pockets with a lateral diameter > 2 cm. When gas pockets were visible in the repeat scan, rectum wall shifts could be accurately detected by the ventral gas pocket edge in the difference images (r= 0.97). The shift of the rectum wall as detected from gas pockets also correlated significantly with the anterior-posterior shift of the center of mass of the CTV (r=0.88). In conclusion, the simulations showed that lateral pelvic images contain more information than the bony structures that are normally used for setup verification. If large gas pockets appear in those images, a quantitative estimate of the position of prostate and rectum wall can be obtained by determination of the ventral edge of the gas pocket.

Optimum beam configurations in tomographic intensity modulated radiation therapy

We review and extend the theory of tomographic dose reconstruction for intensity modulated radiotherapy (IMRT). We derive the basis for a saturation with beam number of dose conformation, and provide an analysis which ranks particular beam orientations in terms of the contribution to the delivered dose. Preferred beam directions are found which effectively reduce the number of beams necessary to achieve a given level of dose conformation. The analysis is a new application of the tomographic projection-slice theorem to the problem of beam orientation determination. The effects of the beam front filter and the positivity constraint arising from the tomographic approach are analysed, and modifications of the beam front filter for small beam numbers are suggested. The theory is applied to simple geometric shapes in two dimensions. A Gaussian ellipse, where analytical results are obtained, and simple hard-edged convex prescribed dose shapes are examined to illustrate beam selection based on the beam overlap metric. More complex concave prescribed dose shapes which contain a sensitive organ are also analysed and for low beam numbers are found to have preferred beam directions.

Optimization of beam orientations and weights for coplanar conformal beams in treating pancreatic cancer

In treating pancreatic cancer with external-beam radiotherapy, radiation dose given to the tumor volume is largely limited by the tolerance of the normal structures near the disease site, including the kidneys, liver, stomach, small bowel, and spinal cord. The purpose of this work was to investigate whether a coplanar conformal therapy technique with beam optimization could reduce dose to the normal tissues compared to the conventional 4-field technique; and if this was true, whether other beam arrangements were more effective than the 4-field technique in treating pancreatic cancer. In this study, 9 patients who were treated previously for T3N0 or T3N1 pancreatic cancer with external-beam therapy of 30 Gy in 10 fractions were selected. Beam orientations and weights were optimized for 4 to 6 coplanar conformal beams using a simulated annealing algorithm to minimize the kidney volume receiving more than 20 Gy. Optimized plans were compared with standard plans using a 4-field technique with respect to the isodose distributions and dose volume histograms. For the standard 4-field plans giving 30 Gy to the tumor volume, the total kidney volume above 20 Gy ranged from 10% to 35%, with a mean of 22% and a standard deviation of 7%. Optimization of the beam orientations and weights reduced this volume by approximately 2 times without a significant increase of dose to the liver, stomach, and small bowel. This indicated that the radiation toxicity to the kidneys could be reduced substantially by a careful selection of oblique beam angles and weights. Analysis of the optimized plans showed that beam arrangements which involved left and right anterior oblique beams were superior to the conventional 4-field technique for reducing the kidney dose in treating pancreatic cancer.

Iterative approaches to dose optimization in tomotherapy

This paper will present the results of an investigation into three iterative approaches to inverse treatment planning. These techniques have been examined in the hope of developing an optimization algorithm suitable for the large-scale problems that are encountered in tomotherapy. The three iterative techniques are referred to as the ratio method, iterative least-squares minimization and the maximum-likelihood estimator. Our results indicate that each of these techniques can serve as a useful tool in tomotherapy optimization. As compared with other mathematical programming techniques, the iterative approaches can reduce both memory demands and time requirements. In this paper, the results from small- and large-scale optimizations will be analysed. It will also be demonstrated that the flexibility of the iterative techniques can be greatly enhanced through the use of dose-volume histogram based penalty functions and/or through the use of weighting factors assigned to each region of the patient. Finally, results will be presented from an investigation into the stability of the iterative techniques.

Monte Carlo modelling of electron beams from medical accelerators

Monte Carlo simulation of radiation transport is considered to be one of the most accurate methods of radiation therapy dose calculation. With the rapid development of computer technology, Monte Carlo based treatment planning for radiation therapy is becoming practical. A basic requirement for Monte Carlo treatment planning is a detailed knowledge of the radiation beams from medical accelerators. A practical approach to obtain the above is to perform Monte Carlo simulation of radiation transport in the medical accelerator. Additionally, Monte Carlo modelling of the treatment machine head can also improve our understanding of clinical beam characteristics, help accelerator design and improve the accuracy of clinical dosimetry by providing more realistic beam data. This paper summarizes work over the past two decades on Monte Carlo simulation of clinical electron beams from medical accelerators.

Intensity-modulation radiotherapy using independent collimators: an algorithm study

The purpose of this work is to investigate algorithms for the delivery of intensity-modulated fields using independent collimators (IC). Two heuristic algorithms are proposed to calculate jaw-setting sequences for arbitrary 2D intensity distributions. The first algorithm is based on searching the whole intensity matrix to find the largest nonzero rectangular area as a segment while the second algorithm is to find a nonzero rectangular area as a segment which makes the complexity of the remaining intensity matrix minimum. After a sequence is obtained, the delivery order of all its segments is optimized with the technique of simulated annealing to minimize the total jaw-moving time. To evaluate these two algorithms, randomly generated intensity matrices and three clinical cases of different complexity have been tested, and the results have been compared with one algorithm proposed for MLC technique. It is shown that the efficiency of IC technique becomes increasingly lower than that of MLC technique, and the relative efficiency of two algorithms proposed here is related to machine dose rate and jaw speed. Assuming the prescribed dose is 200 cGY per fraction, machine dose rate is 250 MU/min, and jaw speed is 1.5 cm/s, the treatment can be delivered within about 20 min for all three cases with the first algorithm. The second algorithm requires longer delivery time under such assumptions. The delivery time can be further reduced through increasing machine dose rate and jaw speed, and developing more efficient algorithms. The use of IC for intensity-modulation radiotherapy has some potential advantages over other techniques.

Dose calculations for external photon beams in radiotherapy

Dose calculation methods for photon beams are reviewed in the context of radiation therapy treatment planning. Following introductory summaries on photon beam characteristics and clinical requirements on dose calculations, calculation methods are described in order of increasing explicitness of particle transport. The simplest are dose ratio factorizations limited to point dose estimates useful for checking other more general, but also more complex, approaches. Some methods incorporate detailed modelling of scatter dose through differentiation of measured data combined with various integration techniques. State-of-the-art methods based on point or pencil kernels, which are derived through Monte Carlo simulations, to characterize secondary particle transport are presented in some detail. Explicit particle transport methods, such as Monte Carlo, are briefly summarized. The extensive literature on beam characterization and handling of treatment head scatter is reviewed in the context of providing phase space data for kernel based and/or direct Monte Carlo dose calculations. Finally, a brief overview of inverse methods for optimization and dose reconstruction is provided.

Megavoltage CT on a tomotherapy system

A megavoltage computed tomography (MVCT) system was developed on the University of Wisconsin tomotherapy benchtop. This system can operate either axially or helically, and collect transmission data without any bounds on delivered dose. Scan times as low as 12 s per slice are possible, and scans were run with linac output rates of 100 MU min(-1), although the system can be tuned to deliver arbitrarily low dose rates. Images were reconstructed with clinically reasonable doses ranging from 8 to 12 cGy. These images delineate contrasts below 2% and resolutions of 3.0 mm. Thus, the MVCT image quality of this system should be sufficient for verifying the patient's position and anatomy prior to radiotherapy. Additionally, synthetic data were used to test the potential for improved MVCT contrast using maximum-likelihood (ML) reconstruction. Specifically, the maximum-likelihood expectation-maximization (ML-EM) algorithm and a transmission ML algorithm were compared with filtered backprojection (FBP). It was found that for expected clinical MVCT doses enough imaging photons are used such that little benefit is conferred by the improved noise model of ML algorithms. For significantly lower doses, some quantitative improvement is achieved through ML reconstruction. Nonetheless, the image quality at those lower doses is not satisfactory for radiotherapy verification.

Comparison of intensity-modulated tomotherapy with stereotactically guided conformal radiotherapy for brain tumors

PURPOSE

Intensity-modulated radiotherapy (IMRT) offers the potential to more closely conform dose distributions to the target, and spare organs at risk (OAR). Its clinical value is still being defined. The present study aims to compare IMRT with stereotactically guided conformal radiotherapy (SCRT) for patients with medium size convex-shaped brain tumors.

METHODS AND MATERIALS

Five patients planned with SCRT were replanned with the IMRT-tomotherapy method using the Peacock system (Nomos Corporation). The planning target volume (PTV) and relevant OAR were assessed, and compared relative to SCRT plans using dose statistics, dose-volume histograms (DVH), and the Radiation Therapy Oncology Group (RTOG) stereotactic radiosurgery criteria.

RESULTS

The median and mean PTV were 78 cm3 and 85 cm3 respectively (range 62-119 cm3). The differences in PTV doses for the whole group (Peacock-SCRT +/-1 SD) were 2%+/-1.8 (minimum PTV), and 0.1%+/-1.9 (maximum PTV). The PTV homogeneity achieved by Peacock was 12.1%+/-1.7 compared to 13.9%+/-1.3 with SCRT. Using RTOG guidelines, Peacock plans provided acceptable PTV coverage for all 5/5 plans compared to minor coverage deviations in 4/5 SCRT plans; acceptable homogeneity index for both plans (Peacock = 1.1 vs. SCRT = 1.2); and comparable conformity index (1.4 each). As a consequence of the transaxial method of arc delivery, the optic nerves received mean and maximum doses that were 11.1 to 11.6%, and 10.3 to 15.2% higher respectively with Peacock plan. The maximum optic lens, and brainstem dose were 3.1 to 4.8% higher, and 0.6% lower respectively with Peacock plan. However, all doses remained below the tolerance threshold (5 Gy for lens, and 50 Gy for optic nerves) and were clinically acceptable.

CONCLUSIONS

The Peacock method provided improved PTV coverage, albeit small, in this group of convex tumors. Although the OAR doses were higher using the Peacock plans, all doses remained within the clinically defined threshold and were clinically acceptable. Further improvements may be expected using other methods of IMRT planning that do not limit the treatment delivery to transaxial arcs. Each IMRT system needs to be individually assessed as the paradigm utilized may provide different outcomes.

[Conformal radiotherapy: principles and classification]

'Conformal radiotherapy' is the name fixed by usage and given to a new form of radiotherapy resulting from the technological improvements observed during, the last ten years. While this terminology is now widely used, no precise definition can be found in the literature. Conformal radiotherapy refers to an approach in which the dose distribution is more closely 'conformed' or adapted to the actual shape of the target volume. However, the achievement of a consensus on a more specific definition is hampered by various difficulties, namely in characterizing the degree of 'conformality'. We have therefore suggested a classification scheme be established on the basis of the tools and the procedures actually used for all steps of the process, i.e., from prescription to treatment completion. Our classification consists of four levels: schematically, at level 0, there is no conformation (rectangular fields); at level 1, a simple conformation takes place, on the basis of conventional 2D imaging; at level 2, a 3D reconstruction of the structures is used for a more accurate conformation; and level 3 includes research and advanced dynamic techniques. We have used our personal experience, contacts with colleagues and data from the literature to analyze all the steps of the planning process, and to define the tools and procedures relevant to a given level. The corresponding tables have been discussed and approved at the European level within the Dynarad concerted action. It is proposed that the term 'conformal radiotherapy' be restricted to procedures where all steps are at least at level 2.

Monte Carlo-based inverse treatment planning

A Monte Carlo based inverse treatment planning system (MCI) has been developed which combines arguably the most accurate dose calculation method (Monte Carlo particle transport) with a 'guaranteed' optimization method (simulated annealing). A distribution of photons is specified in the tumour volume; they are transported using an adjoint calculation method to outside the patient surface to build up an intensity distribution. This intensity distribution is used as the initial input into an optimization algorithm. The dose distribution from each beam element from a number of fields is pre-calculated using Monte Carlo transport. Simulated annealing optimization is then used to find the weighting of each beam element, to yield the optimal dose distribution for the given criteria and constraints. MCI plans have been generated in various theoretical phantoms and patient geometries. These plans show conformation of the dose to the target volume and avoidance of critical structures. To verify the code, an experiment was performed on an anthropomorphic phantom.

Image/patient registration from (partial) projection data by the Fourier phase matching method

A technique for 2D or 3D image/patient registration, PFPM (projection based Fourier phase matching method), is proposed. This technique provides image/patient registration directly from sequential tomographic projection data. The method can also deal with image files by generating 2D Radon transforms slice by slice. The registration in projection space is done by calculating a Fourier invariant (FI) descriptor for each one-dimensional projection datum, and then registering the FI descriptor by the Fourier phase matching (FPM) method. The algorithm has been tested on both synthetic and experimental data. When dealing with translated, rotated and uniformly scaled 2D image registration, the performance of the PFPM method is comparable to that of the IFPM (image based Fourier phase matching) method in robustness, efficiency, insensitivity to the offset between images, and registration time. The advantages of the former are that subpixel resolution is feasible, and it is more insensitive to image noise due to the averaging effect of the projection acquisition. Furthermore, the PFPM method offers the ability to generalize to 3D image/patient registration and to register partial projection data. By applying patient registration directly from tomographic projection data, image reconstruction is not needed in the therapy set-up verification, thus reducing computational time and artefacts. In addition, real time registration is feasible. Registration from partial projection data meets the geometry and dose requirements in many application cases and makes dynamic set-up verification possible in tomotherapy.

Composite energy deposition kernels for focused point monodirectional photon beams

A 3D volume overlap algorithm has been developed for converting energy deposition kernels between arbitrary 2D and 3D irradiation geometries. The kernels can be used as convolution kernels in inverse radiation therapy planning and as accurate descriptions of the dose distributions for clinically important beam geometries. The new method of dose calculation combining Monte Carlo and analytical methods has introduced an improved accuracy in dose calculation on the fractional per cent level. The comparisons are also made for a wide range of photon spectra and irradiation geometries from narrow point monodirectional pencil beams to finite uniform beams, 4pi steradians isotropically converging beams and divergent beams from isotropic point sources. It is seen that the photon scatter penumbra is highest at low photon energies whereas the secondary electron penumbra is widest at high photon energies, making low energy beams more interesting for small targets and high energy beams most useful for large deep-seated targets.

The use of active breathing control (ABC) to reduce margin for breathing motion

PURPOSE

For tumors in the thorax and abdomen, reducing the treatment margin for organ motion due to breathing reduces the volume of normal tissues that will be irradiated. A higher dose can be delivered to the target, provided that the risk of marginal misses is not increased. To ensure safe margin reduction, we investigated the feasibility of using active breathing control (ABC) to temporarily immobilize the patient's breathing. Treatment planning and delivery can then be performed at identical ABC conditions with minimal margin for breathing motion.

METHODS AND MATERIALS

An ABC apparatus is constructed consisting of 2 pairs of flow monitor and scissor valve, 1 each to control the inspiration and expiration paths to the patient. The patient breathes through a mouth-piece connected to the ABC apparatus. The respiratory signal is processed continuously, using a personal computer that displays the changing lung volume in real-time. After the patient's breathing pattern becomes stable, the operator activates ABC at a preselected phase in the breathing cycle. Both valves are then closed to immobilize breathing motion. Breathing motion of 12 patients were held with ABC to examine their acceptance of the procedure. The feasibility of applying ABC for treatment was tested in 5 patients by acquiring volumetric scans with a spiral computed tomography (CT) scanner during active breath-hold. Two patients had Hodgkin's disease, 2 had metastatic liver cancer, and 1 had lung cancer. Two intrafraction ABC scans were acquired at the same respiratory phase near the end of normal or deep inspiration. An additional ABC scan near the end of normal expiration was acquired for 2 patients. The ABC scans were also repeated 1 week later for a Hodgkin's patient. In 1 liver patient, ABC scans were acquired at 7 different phases of the breathing cycle to facilitate examination of the liver motion associated with ventilation. Contours of the lungs and livers were outlined when applicable. The variation of the organ positions and volumes for the different scans were quantified and compared.

RESULTS

The ABC procedure was well tolerated in the 12 patients. When ABC was applied near the end of normal expiration, the minimal duration of active breath-hold was 15 s for 1 patient with lung cancer, and 20 s or more for all other patients. The duration was greater than 40 s for 2 patients with Hodgkin's disease when ABC was applied during deep inspiration. Scan artifacts associated with normal breathing motion were not observed in the ABC scans. The analysis of the small set of intrafraction scan data indicated that with ABC, the liver volumes were reproducible at about 1%, and lung volumes to within 6 %. The excursions of a "center of target" parameter for the livers were less than 1 mm at the same respiratory phase, but were larger than 4 mm at the extremes of the breathing cycle. The inter-fraction scan study indicated that daily setup variation contributed to the uncertainty in assessing the reproducibility of organ immobilization with ABC between treatment fractions.

CONCLUSION

The results were encouraging; ABC provides a simple means to minimize breathing motion. When applied for CT scanning and treatment, the ABC procedure requires no more than standard operation of the CT scanner or the medical accelerator. The ABC scans are void of motion artifacts commonly seen on fast spiral CT scans. When acquired at different points in the breathing cycle, these ABC scans show organ motion in three-dimension (3D) that can be used to enhance treatment planning. Reproducibility of organ immobilization with ABC throughout the course of treatment must be quantified before the procedure can be applied to reduce margin for conformal treatment.

A simple model for examining issues in radiotherapy optimization

Convolution/superposition software has been used to produce a library of photon pencil beam dose matrices. This library of pencil beams is designed to serve as a tool for both education and investigation in the field of radiotherapy optimization. The elegance of this pencil beam model stems from its cylindrical symmetry. Because of the symmetry, the dose distribution for a pencil beam from any arbitrary angle can be determined through a simple rotation of a pre-computed dose matrix. Rapid dose calculations can thus be performed while maintaining the accuracy of a convolution/superposition based dose computation. The pencil beam data sets have been made publicly available. It is hoped that the data sets will facilitate a comparison of a variety of optimization and delivery approaches. This paper will present a number of studies designed to demonstrate the usefulness of the pencil beam data sets. These studies include an examination of the extent to which a treatment plan can be improved through either an increase in the number of beam angles and/or a decrease in the collimator size. A few insights into the significance of heterogeneity corrections for treatment planning for intensity modulated radiotherapy will also be presented.

Delivery verification in sequential and helical tomotherapy

Conformal and conformal avoidance radiation therapy are new therapeutic techniques that are generally characterized by high dose gradients. The success of this kind of treatment relies on quality assurance procedures in order to verify the delivery of the treatment. A delivery verification technique should consider quality assurance procedures for patient positioning and radiation delivery verification. A methodology for radiation delivery verification was developed and tested with our tomotherapy workbench. The procedure was investigated for two cases. The first treatment using a torus-shaped target was optimized for 72 beam directions and sequentially delivered as a single slice to a 33 cm diameter cylinder of homogeneous solid water. For the second treatment, a random pattern of energy fluence was helically delivered for two slices to a 9.0 cm diameter phantom containing inhomogeneities. The presented process provides the energy fluence (or a related quantity) delivered through the multileaf collimator (MLC) using the signal measured at the exit detector during the treatment delivery. As this information is created for every pulse of the accelerator, the energy fluence and state for each MLC leaf were verified on a pulse-by-pulse basis. The pulse-by-pulse results were averaged to obtain projection-by-projection information to allow for a comparison with the planned delivery. The errors between the planned and delivered energy fluences were concentrated between +/-2.0%, with none beyond +/-3.5%. In addition to accurately achieving radiation delivery verification, the process is fast, which could translate to radiation delivery verification in real time. This technique can also be extended to reconstruct the dose actually deposited in the patient or phantom (dose reconstruction).

Aspects on the optimal photon beam energy for radiation therapy

The selection of optimal photon beam energy is investigated both for realistic clinical bremsstrahlung beams and for monoenergetic photon beams. The photon energies covered in this investigation range from 60Co to bremsstrahlung and monoenergetic beams with maximum energies up to 50 MeV. One head and neck tumor and an advanced cervix tumor are investigated and the influence of beam direction is considered. It is shown that the use of optimized intensity modulated photon beams significantly reduces the need of beam energy selection. The most suitable single accelerator potential will generally be in the range 6-15 MV for both superficially located and deep-seated targets, provided intensity-modulated dose delivery is employed. It is also shown that a narrow penumbra region of a photon beam ideally should contain low-energy photons (< or =4 MV), whereas the gross tumor volume, particularly when deep-seated targets are concerned, should be irradiated by high-energy photons. The regions where low photon energies are most beneficial are where organs at risk are laterally close to the target volume. The situation is completely changed when uniform or wedged beams are used. The selection of optimal beam energy then becomes a very important task in line with the experience from traditional treatment techniques. However, even with a large number of uniform beam portals, the treatment outcome is substantially lower than with a few optimized intensity-modulated beams.

[Inverse radiotherapy planning]

BACKGROUND

In clinical practice it sometimes happens that with currently available conformal radiotherapy techniques no satisfactory dose distribution can be achieved. In these cases inverse radiotherapy planning and intensity modulated radiotherapy may give better solutions.

METHOD

Inverse planning is a technique using a computer program to automatically achieve a treatment plan which has an optimal merit. This merit may either depend on dose or dose-volume constraints like minimum and maximum doses in the target region or critical organs, respectively, or biological indices like the complication free tumor control rate. As the result of inverse planning the inhomogeneous intensity fluence of the beams is calculated. These fluence distributions may be generated by beam compensators or multi-leaf collimation.

RESULTS

Clinical studies to prove the advantage of inverse planning are already on the way. It has been shown that this technology is safe and that the dose distributions which can be achieved are superior to conventional methods.

CONCLUSIONS

Inverse treatment planning and intensity modulated radiation therapy will almost certainly come to be the technique of choice for selected clinical cases.

Inverse planning for x-ray rotation therapy: a general solution of the inverse problem

Rotation therapy with photons is currently under investigation for the delivery of intensity modulated radiotherapy (IMRT). An analytical approach for inverse treatment planning of this radiotherapy technique is described. The inverse problem for the delivery of arbitrary 2D dose profiles is first formulated and then solved analytically. In contrast to previously applied strategies for solving the inverse problem, it is shown that the most general solution for the fluence profiles consists of two independent solutions of different parity. A first analytical expression for both fluence profiles is derived. The mathematical derivation includes two different strategies, an elementary expansion of fluence and dose into polynomials and a more practical approach in terms of Fourier transforms. The obtained results are discussed in the context of previous work on this problem.

Registration using tomographic projection files

An algorithm has been developed and experimentally verified for tomographic registration--a patient positioning method using internal anatomy and standard external fiducial marks. This algorithm improves patient set-up and verification to an accuracy sufficient for tomotherapy. By implementation of this technique, the time-consuming reconstruction process is avoided. Instead, offsets in the x, y and z directions are determined directly from sinogram data by an algorithm that utilizes cross-correlations and Fourier transforms. To verify the efficiency and stability of the algorithm, data were collected on the University of Wisconsin's dedicated tomotherapy research workbench. The experiment indicates offset statistical errors of less than +/-0.8 mm for offsets up to 30 mm. With standard clinical techniques, initial patient offsets are expected to be less than 5 mm, so the 30 mm limitation is of no consequence. The angular resolution for the direction of patient translation is within the +/-2 degrees needed for tomotherapy.

Multileaf collimator interleaf transmission

Multileaf collimators (MLCs) have advanced past their original design purpose as a replacement for field shaping cerrobend blocks. Typically, MLCs incorporate an interlocking tongue-and-groove design between adjacent leaves to minimize leakage between leaves. They are beginning to be used to provide intensity modulation for conformal three-dimensional radiation therapy. It is possible that a critical target volume may receive an underdose due to the region of overlap if adjacent leaves are allowed to alternate between the open and closed positions, as they might if intensity modulation is employed. This work demonstrates the magnitude of that effect for a commercially available one-dimensional temporally modulated MLC. The magnitude of the transmission between leaves as a function of leaf separation was also studied, as well as the transmission as a function of leaf rotation away from the source. The results of this work were used for the design of a tomotherapy MLC. The radiation leakage considerations for a tomotherapy MLC are discussed.

Dosimetric verification of a commercial inverse treatment planning system

A commercial three-dimensional (3D) inverse treatment planning system, Corvus (Nomos Corporation, Sewickley, PA), was recently made available. This paper reports our preliminary results and experience with commissioning this system for clinical implementation. This system uses a simulated annealing inverse planning algorithm to calculate intensity-modulated fields. The intensity-modulated fields are divided into beam profiles that can be delivered by means of a sequence of leaf settings by a multileaf collimator (MLC). The treatments are delivered using a computer-controlled MLC. To test the dose calculation algorithm used by the Corvus software, the dose distributions for single rectangularly shaped fields were compared with water phantom scan data. The dose distributions predicted to be delivered by multiple fields were measured using an ion chamber that could be positioned in a rotatable cylindrical water phantom. Integrated charge collected by the ion chamber was used to check the absolute dose of single- and multifield intensity modulated treatments at various spatial points. The measured and predicted doses were found to agree to within 4% at all measurement points. Another set of measurements used a cubic polystyrene phantom with radiographic film to record the radiation dose distribution. The films were calibrated and scanned to yield two-dimensional isodose distributions. Finally, a beam imaging system (BIS) was used to measure the intensity-modulated x-ray beam patterns in the beam's-eye view. The BIS-measured images were then compared with a theoretical calculation based on the MLC leaf sequence files to verify that the treatment would be executed accurately and without machine faults. Excellent correlation (correlation coefficients > or = 0.96) was found for all cases. Treatment plans generated using intensity-modulated beams appear to be suitable for treatment of irregularly shaped tumours adjacent to critical structures. The results indicated that the system has potential for clinical radiation treatment planning and delivery and may in the future reduce treatment complexity.

Optimizing the planning of intensity-modulated radiotherapy

A method of computing optimized intensity-modulated beam profiles has been further developed and used to generate highly conformal radiotherapy dose distributions. The features of these distributions are shown to be strongly dependent on the tuning built into the algorithm. The optimization aims to achieve a specified dose prescription with a posteriori computation of probabilistic biological response. A method has been developed to show the effect of stratifying the intensity-modulated beam profiles into a number of finite intensity increments. It is shown that, provided the number of intensity strata is not too small, highly conformal dose distributions can be achieved with a number of fields (e.g. 7 or 9) which is not excessively large. This number, however, depends on the exact shape of the planning target volume (PTV and its disposition with respect to juxtaposed organs at risk (OARs). These intensity-modulated profiles can therefore be delivered either by apparatus for 'tomotherapy' or by using the multileaf collimator at each gantry orientation to deliver a sequence of fixed fields with different field sizes, constructing the beam profile via finite increments of beam intensity. When the PTV and OARS overlap, due to including a finite margin on the clinical target volume to account for tissue movement, it is shown that the dose delivered to the overlap region provides a limit on what can be achieved with conformal therapy. This problem is encountered, for example, when treating the prostate which lies next to part of the rectum and bladder. Some comment is provided on, but not a solution for, the problem of optimizing field orientation.

Tomotherapy

Tomotherapy is delivery of intensity-modulated, rotational radiation therapy using a fan-beam delivery. The NOMOS (Sewickley, PA) Peacock system is an example of sequential (or serial) tomotherapy that uses a fast-moving, actuator-driven multileaf collimator attached to a conventional C-arm gantry to modulate the beam intensity. In helical tomotherapy, the patient is continuously translated through a ring gantry as the fan beam rotates. The beam delivery geometry is similar to that of helical computed tomography (CT) and requires the use of slip rings to transmit power and data. A ring gantry provides a stable and accurate platform to perform tomographic verification using an unmodulated megavoltage beam. Moreover, megavoltage tomograms have adequate tissue contrast and resolution to provide setup verification. Assuming only translational and rotational offset errors, it is also possible to determine the offsets directly from tomographic projections, avoiding the time-consuming image reconstruction operation. The offsets can be used to modify the leaf delivery pattern to match the beam to the patient's anatomy on each day of a course of treatment. If tomographic representations of the patient are generated, this information can also be used to perform dose reconstruction. In this way, the actual dose distribution delivered can be superimposed onto the tomographic representation of the patient obtained at the time of treatment. The results can be compared with the planned isodose on the planning CT. This comparison may be used as an accurate basis for adaptive radiotherapy whereby the optimized delivery is modified before subsequent fractions. The verification afforded tomotherapy allows more precise conformal therapy. It also enables conformal avoidance radiotherapy, the complement to conformal therapy, for cases in which the tumor volume is ill-defined, but the locations of sensitive structures are adequately determined. A clinical tomotherapy unit is under construction at the University of Wisconsin.

Optimized planning using physical objectives and constraints

Intensity-modulated radiation therapy (IMRT) allows one to achieve a better conformation of the high-dose region to the prescribed tumor target volume than uniform beam therapy, especially in complex treatment situations. Still, perfect conformation is impossible. Hence the goal of optimized IMRT planning or inverse planning is to find the beam profiles that yield the optimum among the physically achievable treatment plans. The principal physical advantage of IMRT is best exploited if the optimization is driven by physical criteria. This article presents an overview of such physical, yet clinically relevant, criteria along with optimization algorithms that take these criteria into account. Practical computer implementations are described, which allow one to perform the optimization in an interactive manner within a few minutes. The application of these methods to some complex clinical example cases is presented, and the results are compared with uniform beam treatment plans and with biologically optimized plans.

Intensity-modulated radiation therapy with dynamic multileaf collimators

Intensity-modulated radiotherapy (IMRT) has been considered as a means of providing dose distributions that conform to concave target volumes. For computer-controlled multileaf collimators (MLCs) to be used to modulate x-ray beams, some procedure must be used to determine the sequence of leaf positions used to produce the desired modulation. This article derives and compares four leaf-sequencing algorithms. MLC leaf sequencing can be accomplished by representing the areal intensity modulation of a beam with a series of beam profiles. A velocity-modulation equation for computing the modulation required for a one-dimensional profile, described originally using more extensive algebra, is derived using a graphic approach. The velocity-modulation approach is compared with an equal incremental step-and-shoot approach derived by Bortfeld and Boyer. An areal step-and-shoot technique derived by Xia and Verhey is introduced and compared with the profile-by-profile methods. Finally, an approach is considered using multiple repeated arcs developed by Yu. This wide variety of methods can yield an approach to IMRT that conforms to the engineering constraints imposed by the design of a particular linear accelerator.

Intensity modulation methods for proton radiotherapy

The characteristic Bragg peak of protons or heavy ions provides a good localization of dose in three dimensions. Through their ability to deliver laterally and distally shaped homogenous fields, protons have been shown to be a precise and practical method for delivering highly conformal radiotherapy. However, in an analogous manner to intensity modulation for photons, protons can be used to construct dose distributions through the application of many individually inhomogeneous fields, but with the localization of dose in the Bragg peak providing the possibility of modulating intensity within each field in two or three dimensions. We describe four different methods of intensity modulation for protons and describe how these have been implemented in an existing proton planning system. As a preliminary evaluation of the efficacy of these methods, each has been applied to an example case using a variety of field combinations. Dose-volume histogram analysis of the resulting dose distributions shows that when large numbers of fields are used, all techniques exhibit both good target homogeneity and sparing of neighbouring critical structures, with little difference between the four techniques being discerned. As the number of fields is decreased, however, only a full 3D modulation of individual Bragg peaks can preserve both target coverage and sparing of normal tissues. We conclude that the 3D method provides the greatest flexibility for constructing conformal doses in challenging situations, but that when large numbers of beam ports are available, little advantage may be gained from the additional modulation of intensity in depth.

Optimization and clinical use of multisegment intensity-modulated radiation therapy for high-dose conformal therapy

Intensity-modulated radiation therapy (IMRT) may be performed with many different treatment delivery techniques. This article summarizes the clinical use and optimization of multisegment IMRT plans that have been used to treat more than 350 patients with IMRT over the last 4.5 years. More than 475 separate clinical IMRT plans are reviewed, including treatments of brain, head and neck, thorax, breast and chest wall, abdomen, pelvis, prostate, and other sites. Clinical planning, plan optimization, and treatment delivery are summarized, including efforts to minimize the number of additional intensity-modulated segments needed for particular planning protocols. Interactive and automated optimization of segmental and full IMRT approaches are illustrated, and automation of the segmental IMRT planning process is discussed.

Comparison of three-dimensional conformal radiation therapy and intensity-modulated radiation therapy systems

The use of three-dimensional conformal radiation therapy (3DCRT) has now become common practice in radiation oncology departments around the world. Using beam's eye viewing of volumes defined on a treatment planning computed tomography scan, beam directions and beam shapes can be selected to conform to the shape of the projected target and minimize dose to critical normal structures. Intensity-modulated radiation therapy (IMRT) can yield dose distributions that conform closely to the three-dimensional shape of the target volume while still minimizing dose to normal structures by allowing the beam intensity to vary across those shaped fields. Predicted dose distributions for patients with tumors of the prostate, nasopharynx, and paraspinal region are compared between plans made with 3DCRT programs and those with inverse-planned IMRT programs. The IMRT plans are calculated for either static or dynamic beam delivery methods using multileaf collimators. Results of these comparisons indicate that IMRT can yield significantly better dose distributions in some situations at the expense of additional time and resources. New technologies are being developed that should significantly reduce the time needed to plan, implement, and verify these treatments. Current research should help define the future role of IMRT in clinical practice.

Managing geometric uncertainty in conformal intensity-modulated radiation therapy

The geometric precision of radiotherapy treatments must increase if the objectives of dose escalation and increased disease control are to be achieved. There are multiple strategies for increasing the geometric precision of a radiotherapy treatment system, including immobilization and setup aids for reducing random and systematic components of setup errors and organ motion alike. Alternatively, more complex strategies can be implemented based on additional information acquired over the course of treatment. Generally, these strategies can be divided into two categories: off-line and on-line. The strategies that are implemented in the clinic must consider the required geometric precision for a given treatment. From this specification, it is possible to select the appropriate strategies and approaches. The cost associated with each approach must also be considered. Once a system for delivery has been designed, the residual uncertainties must still be considered in the planning process. Parallel to the development of strategies for reducing uncertainty, progress is being made in better relating these residual uncertainties to margins for use in treatment planning. This article reviews advances in reducing uncertainty.

Clinical and financial issues for intensity-modulated radiation therapy delivery

Intensity-modulated radiation therapy (IMRT) is a term applied to a new technology that uses nonuniform radiation beams to achieve conformal dose distributions. This article reviews the use of a commercial system, the Peacock system, which uses a special multileaf collimator (MIMiC) to deliver the dose distribution using arc therapy and segmented fields, similar to a moving strip. Although initially designed for stereotactic radiosurgery, this system has been employed to treat various body sites. More than 300 patients have been treated at our institution in the past 4 years, mainly for cranial, head-and-neck, and prostate tumors. Presently, we treat 40 to 45 patients per day with this technology using two linear accelerators operating with 10 MV and 15 MV x-rays, as Peacock has become a standard therapy procedure. Cases are presented that show the unique ability of IMRT to deliver conformal dose distributions. Why this type of technology can become a standard procedure and why it is cost-effective therapy for both the institution and the patient are discussed.

Characterization of the output for helical delivery of intensity modulated slit beams

The UW tomotherapy workbench utilizes a convolution/superposition based dose calculation and optimization program. It specifies the energy fluence that must be delivered from each leaf for each phantom projection angle. This requires that the spectrum of the radiation emitted from the one-dimensional MLC (multileaf collimator) attached to the linear accelerator be determined. The steps involved in that process are described. The spectrum along the central axis of the slit beam was determined, as well as the softening with off-axis position. Moreover, the magnitude of the energy-fluence output had to be quantified on a per MU (monitor unit) basis. This was done for a single leaf along the central axis of the beam. Factors, which modify that energy-fluence output, were investigated. The output increases with off-axis position due to the horns of the beam. The output for a leaf of interest will also increase if additional leaves are open due to the absence of the tongue-and-groove effect and penumbra blurring. The energy-fluence increase per leaf increase by 4.9% if an adjacent leaf is open. No other factors related to the state of additional leaves were found to significantly increase the energy-fluence output for an individual leaf.