Efficacy of robust optimization plan with partial-arc VMAT for photon volumetric-modulated arc therapy: A phantom study

A robust treatment planning approach for chest motion in postmastectomy chest wall intensity modulated radiation therapy

PURPOSE

Chest wall postmastectomy radiation therapy (PMRT) should consider the effects of chest wall respiratory motion. The purpose of this study is to evaluate the effectiveness of robustness planning intensity modulated radiation therapy (IMRT) for respiratory movement, considering respiratory motion as a setup error.

MATERIAL AND METHODS

This study analyzed 20 patients who underwent PMRT (10 left and 10 right chest walls). The following three treatment plans were created for each case and compared. The treatment plans are a planning target volume (PTV) plan (PP) that covers the PTV within the body contour with the prescribed dose, a virtual bolus plan (VP) that sets a virtual bolus in contact with the body surface and prescribing the dose that includes the PTV outside the body contour, and a robust plan (RP) that considers respiratory movement as a setup uncertainty and performs robust optimization. The isocenter was shifted to reproduce the chest wall motion pattern and the doses were recalculated for comparison for each treatment plan.

RESULT

No significant difference was found between the PP and the RP in terms of the tumor dose in the treatment plan. In contrast, VP had 3.5% higher PTV Dmax and 5.5% lower PTV V95% than RP (p < 0.001). The RP demonstrated significantly higher lung V20Gy and Dmean by 1.4% and 0.4 Gy, respectively, than the PP. The RP showed smaller changes in dose distribution affected by chest wall motion and significantly higher tumor dose coverage than the PP and VP.

CONCLUSION

We revealed that the RP demonstrated comparable tumor doses to the PP in treatment planning and was robust for respiratory motion compared to both the PP and the VP. However, the organ at risk dose in the RP was slightly higher; therefore, its clinical use should be carefully considered.

Assessment of residual geometrical errors of clinical target volumes and their impact on dose accumulation for head and neck radiotherapy

PURPOSE

To assess the residual geometrical errors (dr) and their impact on the clinical target volumes (CTV) dose coverage for head and neck cancer (HNC) proton therapy patients.

METHODS

We analysed 28 HNC patients treated with 70 Gy (RBE) and 54.25 Gy (RBE) to the therapeutic CTV70 and prophylactic CTV54.25, respectively. Daily cone beam CTs were converted to high quality synthetic CTs (sCTs). The CTVs from the nominal CT were propagated to the corresponding sCTs using a hybrid deformable image registration (propagated CTVs) in RayStation 11B. For 11 patients, all propagated CTVs were reviewed by our HNC radiation oncologist (physician corrected CTVs). The residual geometrical error dr was quantified as a function of the daily CTVs volume overlap with the nominal plan CTV. The errors dr(propagated CTVs) and dr(physician corrected CTVs) and the difference in dice similarity coefficients (ΔDSC) were determined. Using clinical plans, dose coverage and the tumor control probability (TCP) for the nominal, accumulated and voxel-wise minimum scenarios were determined.

RESULTS

The difference in the residual geometrical error dr (propagated CTVs - physician corrected CTVs) and mean DSC (|ΔDSC|mean) were minor: Δdr(CTV70) = 0.16 mm, Δdr(CTV54.25) = 0.26 mm, |ΔDSC|mean < 0.9%. For all 28 patients, dr(CTV70) = 1.91 mm and dr(CTV54.25) = 1.90 mm. However, CTV54.25 above and below the cricoid cartilage differed substantially (1.00 mm c.f. 3.93 mm). The CTV54.25 coverage below the cricoid was then almost always lower, although the TCP of the accumulated dose was higher than the TCP of the voxel-wise minimum dose.

CONCLUSIONS

Setup uncertainty setting of 2 mm is possible. The feasibility of using propagated CTVs for error determination is demonstrated.

Dosimetric Effects of Differences in Multi-Leaf Collimator Speed on SBRT-VMAT for Central Lung Cancer Patients

Purpose: We aimed to investigate the effects of different multi-leaf collimator (MLC) speed constraints in volumetric modulated radiotherapy (VMAT) on the robustness of treatment plans for central lung cancer patients. Method and Materials: Twenty patients with central lung tumor who underwent stereotactic body radiotherapy (SBRT) with the VMAT technique at our hospital were included in this retrospective study. The reference plans were created with 3 different MLC speed constraints (Plan A: 0.1 cm/deg., Plan B: 0.3 cm/deg., and Plan C: 0.5 cm/deg.) with a 50-Gy/8Fr, planning target volume (PTV) D_95% prescription. In each of these plans, setup errors from 1 to 5 mm were intentionally added in the direction of the central organ at 1-mm intervals (300 plans [20 cases × 3 MLC speeds × 5 error plans] were created in total). Each plan was then calculated by the same beam conditions as each reference plan. The actual average MLC speed and dose difference between the reference plan and the error-added plan were then calculated and compared among the 3 MLC speeds. Results: In the reference plans, the actual average MLC speeds were 0.25 ± 0.04, 0.34 ± 0.07, and 0.39 ± 0.12 cm/deg. for Plan A, Plan B, and Plan C, respectively (P < .05). For PTV and OARs, many dose indices tended to improve as the MLC speed increased, while no significant differences were observed among the 3 MLC speed constraints. However, in assessments of robustness, no significant differences in dose difference were observed among the 3 MLC speed constraints for most of the indices. Conclusions: When necessary, increasing the MLC speed constraint with a priority on improving the quality of the dose distribution is an acceptable approach for central lung cancer patients.

An empirical method for splitting arcs in VMAT

PURPOSE

We present a new approach to determine the optimal arc split for VMAT beams which is an extension of our recently published algorithm for selecting optimal beam angles in Intensity Modulated Radiation Therapy (IMRT) MATERIAL AND METHODS: The proposed approach uses an objective function based scoring method called "ψ - score" to determine optimal arc splitting strategy. To validate our approach, we applied it in different clinical cases: Abdomen-Para aortic node, Lung, Pancreas and Prostate. Basically, for all clinical cases, two set of plans were created, namely VMAT plan and VMAT_S plan using Pinnacle³ (V16.2, Philips Medical Systems (Cleveland), Inc.). In the VMAT plans, full arc (360°) with 4-degree gantry spacing was used during optimization to compute the "ψ - score". Subsequently the avoidable arc portions were identified and removed using the ψ - score plot followed by the final optimization (VMAT_S).

RESULTS

Equivalent or better OAR sparing, and similar target coverage were achieved in VMAT_S plans compared to VMAT plans. VMAT_S reduced the number of control points and monitor units by 24.2% and 12.9% respectively. On the average, beam on time was reduced by 21.9% and low dose volume (5 Gy isodose volume) to healthy tissues was reduced by 4.9% in VMAT_S compared to VMAT plans.

CONCLUSION

The results demonstrated that the proposed method is useful for reducing the monitor units, beam on time and low dose volume without significantly compromising plan quality and most useful for non-centrically located targets.

The Role of Plan Robustness Evaluation in Comparing Protons and Photons Plans - An Application on IMPT and IMRT Plans in Skull Base Chordomas

Purpose:

To analyze robustness of treatment plans optimized using different approaches in intensity modulated proton therapy (IMPT) and investigate the necessity of robust optimization and evaluation in intensity modulated radiotherapy (IMRT) plans for skull base chordomas.

Materials and Methods:

Two photon plans, standard IMRT and robustly optimized IMRT (RB-IMRT), and two IMPT plans, robustly optimized multi field optimization (MFO) and hybrid-MFO (HB-MFO), were created in RayStation TPS for five patients previously treated using single field uniform optimization (SFO). Both set-up and range uncertainties were incorporated during robust optimization of IMPT plans whereas only set-up uncertainty was used in RB-IMRT. The dosimetric outcomes from the five planning techniques were compared for every patient using standard dose volume indices and integral dose (ID) estimated for target and organs at risk (OARs). Robustness of each treatment plan was assessed by introducing set-up uncertainties of ±3 mm along the three translational axes and, only in protons, an additional range uncertainty of ±3.5%.

Results:

All the five nominal plans provided comparable and clinically acceptable target coverage. In comparison to nominal plans, worst case decrease in D_95% of clinical target volume-high risk (CTV-HR) were 11.1%, 13.5%, and 13.6% for SFO, MFO, and HB-MFO plans respectively. The corresponding values were 13.7% for standard IMRT which improved to 11.5% for RB-IMRT. The worst case increased in high dose (D_1%) to CTV-HR was highest in IMRT (2.1%) and lowest in SFO (0.7%) plans. Moreover, IMRT showed worst case increases in D_1% for all neurological OARs and were lowest for SFO plans. The worst case D_1% for brainstem, chiasm, spinal cord, optic nerves, and temporal lobes were increased by 29%, 41%, 30%, 41% and 14% for IMRT and 18%, 21%, 21%, 24%, and 7% for SFO plans, respectively. In comparison to IMRT, RB-IMRT improved D_1% of all neurological OARs ranging from 5% to 14% in worst case scenarios.

Conclusion:

Based on the five cases presented in the current study, all proton planning techniques (SFO, MFO and HB-MFO) were robust both for target coverage and OARs sparing. Standard IMRT plans were less robust than proton plans in regards to high doses to neurological OARs. However, robust optimization applied to IMRT resulted in improved robustness in both target coverage and high doses to OARs. Robustness evaluation may be considered as a part of plan evaluation procedure even in IMRT.

Time of PTV is ending, robust optimization comes next

Continuous improvements have been made in the way to prescribe, record and report dose distributions since the therapeutic use of ionizing radiations. The international commission for radiation units and measurement (ICRU) has provided a common language for physicians and physicists to plan and evaluate their treatments. The PTV concept has been used for more than two decades but is becoming obsolete as the CTV-to-PTV margin creates a static dose cloud that does not properly recapitulate all planning vs. delivery uncertainties. The robust optimization concept has recently emerged to overcome the limitations of the PTV concept. This concept is integrated in the inverse planning process and minimizes deviations to planned dose distribution through integration of uncertainties in the planning objectives. It appears critical to account for the uncertainties that are specific to protons and should be accounted for to better exploit the clinical potential of proton therapy. It may also improve treatment quality particularly in hypofractionated photon plans of mobile tumors and more widely to photon radiotherapy. However, in contrast to the PTV concept, a posteriori evaluation of plan quality, called robust evaluation, using error-based scenarios is still warranted. Robust optimization metrics are warranted. These metrics are necessary to compare PTV-based photon and robustly optimized proton plans in general and in model-based NTCP approaches. Assessment of computational demand and approximations of robust optimization algorithms along with metrics to evaluate plan quality are needed but a step further to better prescribe radiotherapy may has been achieved.

Characterization of robust optimization for VMAT plan for liver cancer

Purpose

We investigated the feasibility of robust optimization for volumetric modulated arc therapy (VMAT) stereotactic body radiation therapy (SBRT) for liver cancer in comparison with planning target volume (PTV)-based optimized plans. Treatment plan quality, robustness, complexity, and accuracy of dose delivery were assessed.

Methods

Ten liver cancer patients were selected for this study. PTV-based optimized plans with an 8-mm PTV margin and robust optimized plans with an 8-mm setup uncertainty were generated. Plan perturbed doses were evaluated using a setup error of 8 mm in all directions from the isocenter. The dosimetric comparison parameters were clinical target volume (CTV) doses (D_98%, D_50%, and D_2%), liver doses, and monitor unit (MU). Plan complexity was evaluated using the modulation complexity score for VMAT (MCSv).

Results

There was no significant difference between the two optimizations with respect to CTV doses and MUs. Robust optimized plans had a higher liver dose than did PTV-based optimized plans. Plan perturbed dose evaluations showed that doses to the CTV for the robust optimized plans had small variations. Robust optimized plans were less complex than PTV-based optimized plans. Robust optimized plans had statistically significant fewer leaf position errors than did PTV-based optimized plans.

Conclusions

Comparison of treatment plan quality, robustness, and plan complexity of both optimizations showed that robust optimization could be feasibile for VMAT of liver cancer.

Volumetric modulated arc therapy with robust optimization for larynx cancer

PURPOSE

The aim of this study was to perform a comparison between robust optimization and planning target volume (PTV)-based optimization plans using volumetric modulated arc-therapy (VMAT) by evaluating perturbed doses induced by localization offsets for setup uncertainties in larynx cancer radiation therapy.

METHODS

Ten patients with early-stage (T1-2N0) glottis carcinoma were selected. The clinical target volume (CTV), carotid arteries, and spinal cord were contoured by a radiation oncologist. PTV-based and robust optimization plans were normalized at D_50% to the PTV and D_98% to the CTV, respectively. Both optimization plans were evaluated using perturbed doses by specifying user defined shifted values from the isocenter. CTV dose (D_98%, D_50%, and D_2%), homogeneity index (HI) and conformity index (CI_95%, CI_80%, and CI_50%), as well as doses to the carotid arteries and spinal cord were compared between PTV-based and robust optimization plans.

RESULTS

The robust optimization plans exhibited superior CTV coverage and a reduced dose to the carotid arteries compared to the PTV-based optimization plans (p < 0.05). HI, CI_95% and the dose to the spinal cord did not significantly differ between the PTV-based and robust optimization plans (p > 0.05). The robust optimization plans showed better CI_80% and CI_50% compared to the PTV-based optimization plans (p < 0.05). Plan perturbed evaluations showed that the robust optimization plan has small variations in the doses to the CTV, carotid arteries, and spinal cord compared to the PTV-based optimization plan.

CONCLUSIONS

The robust optimization plan may be a suitable treatment method in radiotherapy for larynx cancer patient.

Simulation of dosimetry impact of 4DCT uncertainty in 4D dose calculation for lung SBRT

Background

Due to the heterogeneity of patient’s individual respiratory motion pattern in lung stereotactic body radiotherapy (SBRT), treatment planning dose assessment using a traditional four-dimensional computed tomography (4DCT_traditional) images based on a uniform breathing curve may not represent the true treatment dose delivered to the patient. The purpose of this study was to evaluate the accumulated dose discrepancy between based on the 4DCT_traditional and true 4DCT (4DCT_true) that incorporated with the patient’s real entire breathing motion. The study also explored a novel 4D robust planning strategy to compensate for such heterogeneity respiratory motion uncertainties.

Methods

Simulated and measured patient specific breathing curves were used to generate 4D targets motion CT images. Volumetric-modulated arc therapy (VMAT) was planned using two arcs. Accumulated dose was obtained by recalculating the plan dose on each individual phase image and then deformed the dose from each phase image to the reference image. The “4 D dose” (D^4D) and “true dose” (D^true) were the accumulated dose based on the 4DCT_traditional and 4DCT_true respectively. The average worse case dose discrepancy (\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$ \overline{\Delta D} $$\end{document}ΔD¯) between D^4D and D^true in all treatment fraction was calculated to evaluate dosimetric /planning parameters and correlate them with the heterogeneity of respiratory-induced motion patterns. A novel 4D robust optimization strategy for VMAT (4D Ro-VMAT) based on the probability density function(pdf) of breathing curve was proposed to improve the target coverage in the presence of heterogeneity respiratory motion. The data were assessed with a paired t-tests.

Results

With increasing breathing amplitude from 5 to 20 mm, target \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$ \overline{\Delta {D}_{99}} $$\end{document}ΔD99¯, \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$ \overline{\Delta {D}_{95}} $$\end{document}ΔD95¯ increased from 1.59,1.39 to 10.15%,8.66% respectively. When the standard deviation of breathing amplitude increased from 15 to 35% of the mean amplitude, \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$ \overline{\Delta {D}_{99}} $$\end{document}ΔD99¯, \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$ \overline{\Delta {D}_{95}} $$\end{document}ΔD95¯ increased from 4.06,3.48 to 10.25%,6.63% respectively. The 4D Ro-VMAT plan significantly improve the target dose compared to VMAT plan.

Conclusion

When the breathing curve amplitude is more than 10 mm and standard deviation of amplitude is higher than 25% of mean amplitude, special care is needed to choose an appropriated dose accumulation approach to evaluate lung SBRT plan target coverage robustness. The proposed 4D Ro_VMAT strategy based on the pdf of patient specific breathing curve could effectively compensate such uncertainties.

ITV-Based Robust Optimization for VMAT Planning of Stereotactic Body Radiation Therapy of Lung Cancer

PURPOSE

Using planning target volume (PTV) to account for setup uncertainties in stereotactic body radiation therapy (SBRT) of lung cancer has been questioned because a significant portion of the PTV contains low-density lung tissue. The purpose of this study is to (1) investigate the feasibility of using robust optimization to account for setup uncertainties in volumetric modulated arc therapy plan for lung SBRT and (2) evaluate the potential normal tissue-sparing benefit of a robust optimized plan compared with a conventional PTV-based optimized plan.

METHODS AND MATERIALS

The study was conducted with both phantom and patient cases. For each patient or phantom, 2 SBRT lung volumetric modulated arc therapy plans were generated, including an optimized plan based on the PTV (PTV-based plan) with a 5-mm internal target volume (ITV)-to-PTV margin and a second plan based on robust optimization of ITV (ITV-based plan) with ±5-mm setup uncertainties. The target coverage was evaluated on ITV D99 in 15 scenarios that simulated a 5-mm setup error. Dose-volume information on normal lung tissue, intermediate-to-high dose spillage, and integral dose was evaluated.

RESULTS

Compared with PTV-based plans, ITV-based robust optimized plans resulted in lower normal lung tissue dose, lower intermediate-to-high dose spillage to the body, and lower integral dose, while preserving the dose coverage under setup error scenarios for both phantom and patient cases.

CONCLUSIONS

Using ITV-based robust optimization, we have shown that accounting for setup uncertainty in SBRT planning is feasible. Further clinical studies are warranted to confirm the clinical effectiveness of this novel approach.

Robust optimization in lung treatment plans accounting for geometric uncertainty

Robust optimization generates scenario‐based plans by a minimax optimization method to find optimal scenario for the trade‐off between target coverage robustness and organ‐at‐risk (OAR) sparing. In this study, 20 lung cancer patients with tumors located at various anatomical regions within the lungs were selected and robust optimization photon treatment plans including intensity modulated radiotherapy (IMRT) and volumetric modulated arc therapy (VMAT) plans were generated. The plan robustness was analyzed using perturbed doses with setup error boundary of ±3 mm in anterior/posterior (AP), ±3 mm in left/right (LR), and ±5 mm in inferior/superior (IS) directions from isocenter. Perturbed doses for D₉₉, D₉₈, and D₉₅ were computed from six shifted isocenter plans to evaluate plan robustness. Dosimetric study was performed to compare the internal target volume‐based robust optimization plans (ITV‐IMRT and ITV‐VMAT) and conventional PTV margin‐based plans (PTV‐IMRT and PTV‐VMAT). The dosimetric comparison parameters were: ITV target mean dose (D_mean), R₉₅(D₉₅/D_prescription), Paddick's conformity index (CI), homogeneity index (HI), monitor unit (MU), and OAR doses including lung (D_mean, V_{20 Gy} and V_{15 Gy}), chest wall, heart, esophagus, and maximum cord doses. A comparison of optimization results showed the robust optimization plan had better ITV dose coverage, better CI, worse HI, and lower OAR doses than conventional PTV margin‐based plans. Plan robustness evaluation showed that the perturbed doses of D₉₉, D₉₈, and D₉₅ were all satisfied at least 99% of the ITV to received 95% of prescription doses. It was also observed that PTV margin‐based plans had higher MU than robust optimization plans. The results also showed robust optimization can generate plans that offer increased OAR sparing, especially for normal lungs and OARs near or abutting the target. Weak correlation was found between normal lung dose and target size, and no other correlation was observed in this study.