Detection of fiducial gold markers for automatic on-line megavoltage position verification using a marker extraction kernel (MEK)

Comparison of megavoltage position verification for prostate irradiation based on bony anatomy and implanted fiducials

PURPOSE

The patient position during radiotherapy treatment of prostate cancer can be verified with the help of portal images acquired during treatment. In this study we quantify the clinical consequences of the use of image-based verification based on the bony anatomy and the prostate target itself.

PATIENTS AND METHODS

We analysed 2025 portal images and 23 computed tomography (CT) scans from 23 patients with prostate cancer. In all patients gold markers were implanted prior to CT scanning. Statistical data for both random and systematic errors were calculated for displacements of bones and markers and we investigated the effectiveness of an off-line correction protocol.

RESULTS

Standard deviations for systematic marker displacement are 2.4 mm in the lateral (LR) direction, 4.4 mm in the anterior-posterior (AP) direction and 3.7 mm in the caudal-cranial direction (CC). Application of off-line position verification based on the marker positions results in a shrinkage of the systematic error to well below 1 mm. Position verification based on the bony anatomy reduces the systematic target uncertainty to 50% in the AP direction and in the LR direction. No reduction was observed in the CC direction. For six out of 23 patients we found an increase of the systematic error after application of bony anatomy-based position verification.

CONCLUSIONS

We show that even if correction based on the bony anatomy is applied, considerable margins have to be set to account for organ motion. Our study highlights that for individual patients the systematic error can increase after application of bony anatomy-based position verification, whereas the population standard deviation will decrease. Off-line target-based position verification effectively reduces the systematic error to well below 1 mm, thus enabling significant margin reduction.

Robustness and precision of an automatic marker detection algorithm for online prostate daily targeting using a standard V-EPID

An algorithm for the daily localization of the prostate using implanted markers and a standard video-based electronic portal imaging device (V-EPID) has been tested. Prior to planning, three gold markers were implanted in the prostate of seven patients. The clinical images were acquired with a BeamViewPlus 2.1 V-EPID for each field during the normal course radiotherapy treatment and are used off-line to determine the ability of the automatic marker detection algorithm to adequately and consistently detect the markers. Clinical images were obtained with various dose levels from ranging 2.5 to 75 MU. The algorithm is based on marker attenuation characterization in the portal image and spatial distribution. A total of 1182 clinical images were taken. The results show an average efficiency of 93% for the markers detected individually and 85% for the group of markers. This algorithm accomplishes the detection and validation in 0.20-0.40 s. When the center of mass of the group of implanted markers is used, then all displacements can be corrected to within 1.0 mm in 84% of the cases and within 1.5 mm in 97% of cases. The standard video-based EPID tested provides excellent marker detection capability even with low dose levels. The V-EPID can be used successfully with radiopaque markers and the automatic detection algorithm to track and correct the daily setup deviations due to organ motions.

Interfractional and intrafractional accuracy during radiotherapy of gynecologic carcinomas: a comprehensive evaluation using the ExacTrac system

PURPOSE

To evaluate positioning uncertainties with an infrared body marker-based positioning system (ExacTrac) compared with conventional laser positioning in patients treated for gynecologic carcinomas, and to investigate patient movement during therapy.

MATERIALS AND METHODS

Ten patients were positioned both with a conventional laser system and with the ExacTrac system. Positioning accuracy was evaluated using repeated electronic portal images. Average displacements and overall, systematic, and random errors were calculated and compared for the two positioning methods. Further, inter- and intrafractional patient movement including time trends in positioning displacements, respiratory amplitudes, and breathing frequencies were analyzed by online documentation of body marker movement with the ExacTrac system.

RESULTS

Average displacements ranged between -3.6 and 6.7 mm for the three coordinates. Mean systematic and random errors ranged from 1.6 to 3.7 mm and 2.2 to 3.7 mm, respectively, with no significant differences between conventional and ExacTrac positioning (p > 0.07). The main breathing direction was from dorsocaudal to anterocranial in 9 of 10 patients. The mean 3D breathing amplitude in the pelvis was 2.4 mm (0.49-6.96 mm). Significant interfractional and intrafractional time trends were observed concerning breathing amplitudes and positioning displacements.

CONCLUSIONS

The observed displacements did not vary significantly between the two evaluated positioning systems. The analysis of registered body marker positions revealed a wide variation in respiratory frequencies, breathing amplitudes, and patient displacements with interfractional and intrafractional time trends. Systems that allow the measurement of each patient's motion characteristics are a necessary requirement for all efforts at individually tailored radiation therapy.

Potential and limitations of the automatic detection of fiducial markers using an amorphous silicon flat-panel imager

Amorphous silicon electronic portal imaging devices (a-Si EPIDs) allow fast acquisition of high resolution portal images (PI). A visualization of organ movement for adaptive image-guided radiotherapy (IGRT) can be reached by implantation and automatic detection of fiducial markers. A method of automatic detection has been developed for fiducial spherical tungsten markers on PIs, acquired with an a-Si flat-panel imager. The detection method consists of a 2D Mexican hat filter (MHF), whose parameters are tuned to the particular marker signal. The high selectivity of this filter allows a reliable and precise detection of tungsten markers down to a diameter of 1.5 mm. The presented method allows fast, automatic and unsupervised detection of markers. Inevitably, the detection is hampered by image background (bone structures, etc) and noise. A detection success rate higher than 95% was reached, analysing PIs of patients with markers fixed on their skin. Furthermore, this approach to automatic marker detection can also be generalized to elliptic MHFs for the detection of cylindrical markers. The accuracy and detection probability of this method may allow accurate and fast online localization of the considered organ.

Development of a semi-automatic alignment tool for accelerated localization of the prostate

PURPOSE

Delivering high dose to prostate with external beam radiation has been shown to improve local tumor control. However, it has to be carefully performed to avoid partial target miss and delivering excessive dose to surrounding normal tissues. One way to achieve safe dose escalation is to precisely localize prostate immediately before daily treatment. Therefore, the radiation can be accurately delivered to the target. Once the prostate position is determined with high confidence, planning target volume (PTV) safety margin might be reduced for further reduction of rectal toxicity. A rapid computed tomography (CT)-based online prostate localization method is presented for this purpose.

METHODS AND MATERIALS

Immediately before each treatment session, the patient is immobilized and undergoes a CT scan in the treatment position using a CT scanner situated in the treatment room. At the CT console, posterior, anterior, left, and right extents of the prostate are manually identified on each axial slice. The translational prostate displacements relative to the planned position are estimated by simultaneously fitting these identified extents from this CT scan to a template created from the finely sliced planning CT scan. A total of 106 serial CT scans from 8 prostate cancer patients were performed immediately before treatments and used to retrospectively evaluate the precision of this daily prostate targeting method. The three-dimensional displacement of the prostate with respect to its planned position was estimated.

RESULTS

Five axial slices from each treatment CT scan were sufficient to produce a reliable correction when compared with prostate center of gravity (CoG) displacements calculated from physician-drawn contours. The differences (mean +/- SD) between these two correction schemes in the right-left (R/L), posterior-anterior (P/A), and superior-inferior (S/I) directions are 0.0 +/- 0.4 mm, 0.0 +/- 0.7 mm, and -0.4 +/- 1.9 mm, respectively. With daily CT extent-fitting correction, 97% of the scans showed that the entire posterior prostate gland was covered by PTV given a margin of 6 mm at the rectum-prostate interface and 10 mm elsewhere. In comparison, only 74% and 65% could be achieved by the corrections based on daily and weekly bony matching on portal images, respectively.

CONCLUSIONS

Results show that daily CT extent fitting provides a precise correction of prostate position in terms of CoG. Identifying prostate extents on five axial CT slices at the CT console is less time-consuming compared with daily contouring of the prostate on many slices. Taking advantage of the prostate curvature in the longitudinal direction, this method also eliminates the necessity of identifying prostate base and apex. Therefore, it is clinically feasible and should provide an accelerated localization of the prostate immediately before daily treatment.

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.

Measurement of intrafractional prostate motion using magnetic resonance imaging

PURPOSE

To quantify the three-dimensional intrafractional prostate motion over typical treatment time intervals with cine-magnetic resonance imaging (cine MRI) studies.

METHODS AND MATERIALS

Forty-two patients with prostate cancer were scanned supine in an alpha cradle cast using cine MRI. Twenty sequential slices were acquired in the sagittal and axial planes through the center of the prostate. Each scan took approximately 9 min. The posterior, lateral, and superior edges of the prostate were tracked on each frame relative to the initial prostate position, and the size and duration of each displacement was recorded.

RESULTS

The prostate displacements were (mean +/- SD): 0.2 +/- 2.9 mm, 0.0 +/- 3.4 mm, and 0.0 +/- 1.5 mm in the anterior-posterior, superior-inferior, and medial-lateral dimensions respectively. The prostate motion appeared to have been driven by peristalsis in the rectum. Large displacements of the prostate (up to 1.2 cm) moved the prostate both anteriorly and superiorly and in some cases compressed the organ. For such motions, the prostate did not stay displaced, but moved back to its original position. To account for the dosimetric consequences of the motion, we also calculated the time-averaged displacement to be approximately 1 mm.

CONCLUSIONS

Cine MRI can be used to measure intrafractional prostate motion. Although intrafractional prostate motions occur, their effects are negligible compared to interfractional motion and setup error. No adjustment in margin is necessary for three-dimensional conformal or intensity-modulated radiation therapy.

A review of intensity modulated radiation therapy: incorporating a report on the seventh education workshop of the ACPSEM--ACT/NSW branch. Australasian College of Physical Scientists and Engineers in Medicine

Intensity modulated radiation therapy (IMRT) is an evolving treatment technique that has become a clinical treatment option in several radiotherapy centres around the world. In August 2001 the ACT/NSW branch of the ACPSEM held its seventh education workshop, the subject was IMRT. This review considers the current use of IMRT and reports on the proceedings of the workshop. The workshop provided some of the theory behind IMRT, discussion of the practical issues associated with IMRT, and also involved presentations from Australian centres that had clinically implemented IMRT. The main topics of discussion were patient selection, plan assessment, multi-disciplinary approach, quality assurance and delivery of IMRT. Key points that were emphasised were the need for a balanced multi-disciplinary approach to IMRT, in both the establishment and maintenance of an IMRT program; the importance of the accuracy of the final dose distribution as compared to the minor in-field fluctuations of individual beams; and that IMRT is an emerging treatment technique, undergoing continuing development and refinement.

Kilovision: thermal modeling of a kilovoltage x-ray source integrated into a medical linear accelerator

The thermal and thermo-mechanical (fatigue) properties of a stationary-anode kilovoltage x-ray source that can be integrated into the head of a medical linear accelerator have been modeled. A finite element program has been used to model two new target designs. The first design makes minor modifications to the existing target assembly of a Varian medical linear accelerator, while the second design adds an additional cooling tube, changes the target angle, and uses a tungsten-rhenium alloy rather than tungsten as the kilovoltage target material. The thermal calculations have been used to generate cyclic stress/strain values from which estimates of fatigue in the target designs have been made. Both kilovoltage and megavoltage operation have been studied. Analysis of the megavoltage operation shows that there are only small differences in the thermal and fatigue characteristics after the target assembly is modified to include a kilovoltage target. Thus, megavoltage operation should not be compromised. The first kilovoltage target design can handle a 900 W heat load (e.g., 120 kVp, 7.5 mA, 2 x 2 mm2 source size); the heat load being limited by the temperature at the surface of the cooling tubes and mechanical fatigue at the surface of the target. The second design can handle a 1250 W heat load (e.g., 120 kVp, approximately 10.4 mA, 2 x 2 mm2 source size). Our calculations show that installation of a kilovoltage x-ray target is practical from thermal and thermo-mechanical perspectives.

The dose to the parotid glands with IMRT for oropharyngeal tumors: the effect of reduction of positioning margins

PURPOSE

The aim of this paper is to quantify the importance of the reduction of positioning margins applied to the clinical target volume (CTV) on the dose distribution of the parotid gland for different intensity-modulated radiotherapy (IMRT) strategies for the treatment of oropharyngeal cancer.

METHODS AND MATERIALS

CTVs and organs at risk were delineated in the planning computed tomographic (CT) scans of three patients. Margins of 0, 3, 6 and 9mm were applied to the CTVs in order to obtain the planning target volumes (PTVs). Three IMRT strategies were used to optimize the dose distribution.

RESULTS

The analysis of the three IMRT strategies resulted in: (1) an optimal dose distribution in the PTV; (2) optimal dose distribution in the PTV while sparing the parotid gland and (3) more parotid gland sparing but at expense of the dose homogeneity in the PTV. The mean parotid dose increased linearly with increasing margin by approximately 1.3Gy per mm. As a result, the normal complication probability (NTCP) for xerostomia decreased when smaller margins were applied. Reducing the margin from 6 to 3mm resulted in an NTCP reduction of approximately 20%.

CONCLUSION

Reducing the CTV-PTV margin by improving the patient position accuracy may lead to a significant reduction of NTCP for the IMRT treatment of the oropharyngeal tumors and lymph nodes level II.

Measurements and clinical consequences of prostate motion during a radiotherapy fraction

PURPOSE

Here we study the magnitude of prostate motion during the delivery of a radiotherapy fraction. These motions have clinical consequences for on-line position verification and the choice of margins around the target volume.

METHODS AND MATERIALS

We studied the motion of the prostate for 10 patients during 251 radiotherapy treatment fractions by assessing the position of implanted gold markers. Gold markers of 1 mm diameter and 5 mm length were implanted in the prostate before the start of the radiotherapy. We obtained movies during each fraction using an a-Si flat-panel imager. The markers could be detected in separate frames using a marker extraction kernel.

RESULTS

Marker displacements as large as 9.5 mm were detected in one fraction. The motion of the prostate is greatest in the caudal-cranial and the anterior-posterior directions. Within a time window of 2 to 3 min, deviations from the initial marker position, averaged over all patients, are 0.3 +/- 0.5 mm and -0.4 +/- 0.7 mm in the anterior-posterior and caudal-cranial directions, respectively.

CONCLUSIONS

It appeared that on average, the intrafraction prostate motions did not result in margins larger than 1 mm, provided that the position verification is performed at time intervals of 2 to 3 min. Only for some patients performing more frequent position verification or adding extra margins of 2 to 3 mm is required to account for intrafraction prostate motions.

Daily prostate targeting using implanted radiopaque markers

PURPOSE

A system has been implemented for daily localization of the prostate through radiographic localization of implanted markers. This report summarizes an initial trial to establish the accuracy of patient setup via this system.

METHODS AND MATERIALS

Before radiotherapy, three radiopaque markers are implanted in the prostate periphery. Reference positions are established from CT data. Before treatment, orthogonal radiographs are acquired. Projected marker positions are extracted semiautomatically from the radiographs and aligned to the reference positions. Computer-controlled couch adjustment is performed, followed by acquisition of a second pair of radiographs to verify prostate position. Ten patients (6 prone, 4 supine) participated in a trial of daily positioning.

RESULTS

Three hundred seventy-four fractions were treated using this system. Treatment times were on the order of 30 minutes. Initial prostate position errors (sigma) ranged from 3.1 to 5.8 mm left-right, 4.0 to 10.1 mm anterior-posterior, and 2.6 to 9.0 mm inferior-superior in prone patients. Initial position was more reproducible in supine patients, with errors of 2.8 to 5.0 mm left-right, 1.9 to 3.0 mm anterior-posterior, and 2.6 to 5.3 mm inferior-superior. After prostate localization and adjustment, the position errors were reduced to 1.3 to 3.5 mm left-right, 1.7 to 4.2 mm anterior-posterior, and 1.6 to 4.0 mm inferior-superior in prone patients, and 1.2 to 1.8 mm left-right, 0.9 to 1.8 mm anterior-posterior, and 0.8 to 1.5 mm inferior-superior in supine patients.

CONCLUSIONS

Daily targeting of the prostate has been shown to be technically feasible. The implemented system provides the ability to significantly reduce treatment margins for most patients with cancer confined to the prostate. The differences in final position accuracy between prone and supine patients suggest variations in intratreatment prostate movement related to mechanisms of patient positioning.

Fiducial-based targeting accuracy for external-beam radiotherapy

The accuracy of fiducial-based alignment of external radiotherapy beams is analyzed. The study considers three basic computational methods to determine the target position--the exact closed-form solution for three fiducials, the solution via singular value decomposition for four or more fiducials, and the iterative solution for any number of fiducials--and assesses their accuracy, robustness, and efficiency. Particular attention is paid to inaccuracies arising from the variability of fiducial positions in soft tissue. In nearly every test case it is found that all three solution methods, when properly implemented, yield the same result for the target position, but that the method of singular value decomposition must be modified to distinguish rotations from reflections. When an accurate measure of the rotation of the target site is needed, four fiducials give much better results than three, while more than five fiducials gain little further improvement.

Partial boosting of prostate tumours

BACKGROUND AND PURPOSE

In this planning study we propose a class solution for partial boosting of prostate tumours. Treatment margins and rectum dose are similar to that of the conventional treatment and are supposed to have no direct link to the level of dose escalation. We also study the robustness of our class solution in the presence of geometrical deviations.

METHODS AND MATERIALS

To study the specifications of the class solution ten patients with histologically confirmed prostate cancer were replanned. Besides a conventional plan for each patient, different partial boost plans were produced with an inverse treatment-planning tool. We also simulated treatment geometrical deviations to estimate their effect on partial boost plans.

RESULTS

In our class solution we use three contours in our inverse treatment planning, which are based on the classical CTV. A three beam arrangement appeared to produce a dose distribution, which is comparable to that of a five or seven beam geometry. Comparison of partial boost plans and conventional plans indicated that all conditions for a partial boost plan could be satisfied with the proposed class solution. Simulation of treatment geometrical deviations showed that large random deviations have a minor effect on the overall dose distributions, while systematic deviations may decrease the boost dose and increase the rectal dose.

CONCLUSIONS

We presented a class solution for partial boosting of prostate tumours in which the level of dose escalation is dealt with separately from the margin size and the nominal rectum dose. The framework put forward in this study allows practical introduction of intensity modulated radiotherapy in routine clinical practice using current standards of imaging and position verification.

Localization of intravascular devices with paramagnetic markers in MR images

Magnetic resonance imaging (MRI) offers potential advantages over conventional X-ray techniques for guiding and evaluating intravascular interventions. The development of methods to safely and robustly localize and track devices under MRI guidance is mandatory to enable automatic scan plane adaptation so as to exploit the three-dimensional imaging capabilities of the MRI scanner. With regard to the issue of radiofrequency-induced heating, passive approaches to catheter tracking are inherently safe. These techniques visualize intravascular devices by exploiting the susceptibility artifacts associated with the devices. To promote conspicuity, the devices are equipped with paramagnetic markers. This paper introduces a method to enable automatic localization of devices by its ability to recognize markers in two-dimensional MR images. The method requires a coarse segmentation of the vasculature of interest, and consists of two steps. First, it performs a series of postprocessing operations including calculation of the winding number image and of the Laplacian image to detect marker candidates in the image. Second, the device is localized by matching the detected pattern of candidates to the known distance template of the device markers. Results of an animal experiment and of a clinical application are demonstrated. Validation in phantom experiments shows that the method is able to localize the device in 95% of the cases.

Organ motion and its management

PURPOSE

To compile and review data on the topic of organ motion and its management.

METHODS AND MATERIALS

Data were classified into three categories: (a) patient position-related organ motion, (b) interfraction organ motion, and (c) intrafraction organ motion. Data on interfraction motion of gynecological tumors, the prostate, bladder, and rectum are reviewed. Literature pertaining to the intrafraction movement of the liver, diaphragm, kidneys, pancreas, lung tumors, and prostate is compiled. Methods for managing interfraction and intrafraction organ motion in radiation therapy are also reviewed.

Feasibility of automatic marker detection with an a-Si flat-panel imager

Here we study automatic detection of implanted gold markers relative to the field boundary in portal images for on-line position verification. Portal images containing 1-2 MU were taken with an amorphous silicon flat-panel imager. The images were obtained with lateral field at 18 MV. Both the detection success rate and the localization accuracy of markers of 1.0 and 1.2 mm diameter were determined with the help of a marker detection method based on a marker extraction kernel. A method for determining a fiducial reference point related to the field boundary was developed. Detection success rates were 0.99, 0.90 and 0.95 for markers of 1.2 mm diameter and 5 mm length, 1.0 mm diameter and 5 mm length and 1.0 mm diameter and 10 mm length respectively. The localization accuracy appeared to be better than 0.3 mm. The reference point could be reproduced with an accuracy equal to 1 pixel (0.5 mm at isocentre) within one fraction. During the first few seconds of a treatment fraction the field edge was not stable, which appeared to be an effect of the motion of the radiation source. Thanks to the use an a-Si flat-panel imager, on-line position verification using implanted gold markers becomes clinically feasible. We can use a clinically acceptable marker diameter as small as 1.0 mm. These markers can be automatically detected in portal images obtained with 1-2 MU relative to a stable reference point related to the field boundary.