A tool for validating MRI-guided strategies: a digital breathing CT/MRI phantom of the abdominal site

Synthetic CT in Carbon Ion Radiotherapy of the Abdominal Site

The generation of synthetic CT for carbon ion radiotherapy (CIRT) applications is challenging, since high accuracy is required in treatment planning and delivery, especially in an anatomical site as complex as the abdomen. Thirty-nine abdominal MRI-CT volume pairs were collected and a three-channel cGAN (accounting for air, bones, soft tissues) was used to generate sCTs. The network was tested on five held-out MRI volumes for two scenarios: (i) a CT-based segmentation of the MRI channels, to assess the quality of sCTs and (ii) an MRI manual segmentation, to simulate an MRI-only treatment scenario. The sCTs were evaluated by means of similarity metrics (e.g., mean absolute error, MAE) and geometrical criteria (e.g., dice coefficient). Recalculated CIRT plans were evaluated through dose volume histogram, gamma analysis and range shift analysis. The CT-based test set presented optimal MAE on bones (86.03 ± 10.76 HU), soft tissues (55.39 ± 3.41 HU) and air (54.42 ± 11.48 HU). Higher values were obtained from the MRI-only test set (MAE_BONE = 154.87 ± 22.90 HU). The global gamma pass rate reached 94.88 ± 4.9% with 3%/3 mm, while the range shift reached a median (IQR) of 0.98 (3.64) mm. The three-channel cGAN can generate acceptable abdominal sCTs and allow for CIRT dose recalculations comparable to the clinical plans.

The Impact of Respiratory Motion on Electromagnetic Fields and Specific Absorption Rate in Cardiac Imaging at 7T

PURPOSE

To present electromagnetic simulation setups for detailed analyses of respiration's impact on B 1 + $$ {B}_1^{+} $$ and E-fields, local specific absorption rate (SAR) and associated safety-limits for 7T cardiac imaging.

METHODS

Finite-difference time-domain electromagnetic field simulations were performed at five respiratory states using a breathing body model and a 16-element 7T body transceiver RF-coil array. B 1 + $$ {B}_1^{+} $$ and SAR are analyzed for fixed and moving coil configurations. SAR variations are investigated using phase/amplitude shimming considering (i) a local SAR-controlled mode (here SAR calculations consider RF amplitudes and phases) and (ii) a channel-wise power-controlled mode (SAR boundary calculation is independent of the channels' phases, only dependent on the channels' maximum amplitude).

RESULTS

Respiration-induced variations of both B 1 + $$ {B}_1^{+} $$ amplitude and phase are observed. The flip angle homogeneity depends on the respiratory state used for B 1 + $$ {B}_1^{+} $$ shimming; best results were achieved for shimming on inhale and exhale simultaneously ( | Δ C V | < 35 % $$ \mid \Delta CV\mid <35\% $$ ). The results reflect that respiration impacts position and amplitude of the local SAR maximum. With the local-SAR-control mode, a safety factor of up to 1.4 is needed to accommodate for respiratory variations while the power control mode appears respiration-robust when the coil moves with respiration (SAR peak decrease: 9% exhale→inhale). Instead, a spatially fixed coil setup yields higher SAR variations with respiration.

CONCLUSION

Respiratory motion does not only affect the B 1 + $$ {B}_1^{+} $$ distribution and hence the image contrast, but also location and magnitude of the peak spatial SAR. Therefore, respiration effects may need to be included in safety analyses of RF coils applied to the human thorax.

Abdominal motion tracking with free-breathing XD-GRASP acquisitions using spatio-temporal geodesic trajectories

Free-breathing external beam radiotherapy remains challenging due to the complex elastic or irregular motion of abdominal organs, as imaging moving organs leads to the creation of motion blurring artifacts. In this paper, we propose a radial-based MRI reconstruction method from 3D free-breathing abdominal data using spatio-temporal geodesic trajectories, to quantify motion during radiotherapy. The prospective study was approved by the institutional review board and consent was obtained from all participants. A total of 25 healthy volunteers, 12 women and 13 men (38 years ± 12 [standard deviation]), and 11 liver cancer patients underwent imaging using a 3.0 T clinical MRI system. The radial acquisition based on golden-angle sparse sampling was performed using a 3D stack-of-stars gradient-echo sequence and reconstructed using a discretized piecewise spatio-temporal trajectory defined in a low-dimensional embedding, which tracks the inhale and exhale phases, allowing the separation between distinct motion phases. Liver displacement between phases as measured with the proposed radial approach based on the deformation vector fields was compared to a navigator-based approach. Images reconstructed with the proposed technique with 20 motion states and registered with the multiscale B-spline approach received on average the highest Likert scores for the overall image quality and visual SNR score 3.2 ± 0.3 (mean ± standard deviation), with liver displacement errors varying between 0.1 and 2.0 mm (mean 0.8 ± 0.6 mm). When compared to navigator-based approaches, the proposed method yields similar deformation vector field magnitudes and angle distributions, and with improved reconstruction accuracy based on mean squared errors. Schematic illustration of the proposed 4D-MRI reconstruction method based on radial golden-angle acquisitions and a respiration motion model from a manifold embedding used for motion tracking. First, data is extracted from the center of k-space using golden-angle sampling, which is then mapped onto a low-dimensional embedding, describing the relationship between neighboring samples in the breathing cycle. The trained model is then used to extract the respiratory motion signal for slice re-ordering. The process then improves the image quality through deformable image registration. Using a reference volume, the deformation vector field (DVF) of sequential motion states are extracted, followed by deformable registrations. The output is a 4DMRI which allows to visualize and quantify motion during free-breathing.

Real-time 3D motion estimation from undersampled MRI using multi-resolution neural networks

Purpose: To enable real‐time adaptive magnetic resonance imaging–guided radiotherapy (MRIgRT) by obtaining time‐resolved three‐dimensional (3D) deformation vector fields (DVFs) with high spatiotemporal resolution and low latency (<500 ms).

Theory and Methods: Respiratory‐resolved T1‐weighted 4D‐MRI of 27 patients with lung cancer were acquired using a golden‐angle radial stack‐of‐stars readout. A multiresolution convolutional neural network (CNN) called TEMPEST was trained on up to 32× retrospectively undersampled MRI of 17 patients, reconstructed with a nonuniform fast Fourier transform, to learn optical flow DVFs. TEMPEST was validated using 4D respiratory‐resolved MRI, a digital phantom, and a physical motion phantom. The time‐resolved motion estimation was evaluated in‐vivo using two volunteer scans, acquired on a hybrid MR‐scanner with integrated linear accelerator. Finally, we evaluated the model robustness on a publicly‐available four‐dimensional computed tomography (4D‐CT) dataset.

Results: TEMPEST produced accurate DVFs on respiratory‐resolved MRI at 20‐fold acceleration, with the average end‐point‐error <2 mm, both on respiratory‐sorted MRI and on a digital phantom. TEMPEST estimated accurate time‐resolved DVFs on MRI of a motion phantom, with an error <2 mm at 28× undersampling. On two volunteer scans, TEMPEST accurately estimated motion compared to the self‐navigation signal using 50 spokes per dynamic (366× undersampling). At this undersampling factor, DVFs were estimated within 200 ms, including MRI acquisition. On fully sampled CT data, we achieved a target registration error of 1.87±1.65 mm without retraining the model.

Conclusion: A CNN trained on undersampled MRI produced accurate 3D DVFs with high spatiotemporal resolution for MRIgRT.

Technical Note: Four-dimensional deformable digital phantom for MRI sequence development

PURPOSE

MR-guided radiotherapy has different requirements for the images than diagnostic radiology, thus requiring development of novel imaging sequences. MRI simulation is an excellent tool for optimizing these new sequences; however, currently available software does not provide all the necessary features. In this paper, we present a digital framework for testing MRI sequences that incorporates anatomical structure, respiratory motion, and realistic presentation of MR physics.

METHODS

The extended Cardiac-Torso (XCAT) software was used to create T1 , T2 , and proton density maps that formed the anatomical structure of the phantom. Respiratory motion model was based on the XCAT deformation vector fields, modified to create a motion model driven by a respiration signal. MRI simulation was carried out with JEMRIS, an open source Bloch simulator. We developed an extension for JEMRIS, which calculates the motion of each spin independently, allowing for deformable motion.

RESULTS

The performance of the framework was demonstrated through simulating the acquisition of a two-dimensional (2D) cine and demonstrating expected motion ghosts from T2 weighted spin echo acquisitions with different respiratory patterns. All simulations were consistent with behavior previously described in literature. Simulations with deformable motion were not more time consuming than with rigid motion.

CONCLUSIONS

We present a deformable four-dimensional (4D) digital phantom framework for MR sequence development. The framework incorporates anatomical structure, realistic breathing patterns, deformable motion, and Bloch simulation to achieve accurate simulation of MRI. This method is particularly relevant for testing novel imaging sequences for the purpose of MR-guided radiotherapy in lungs and abdomen.

NO-HYPE: a novel hydrodynamic phantom for the evaluation of MRI flow measurements

Accurate and reproducible measurement of blood flow profile is very important in many clinical investigations for diagnosing cardiovascular disorders. Given that many factors could affect human circulation, and several parameters must be set to properly evaluate blood flows with phase-contrast techniques, we developed an MRI-compatible hydrodynamic phantom to simulate different physiological blood flows. The phantom included a programmable hydraulic pump connected to a series of pipes immersed in a solution mimicking human soft tissues, with a blood-mimicking fluid flowing in the pipes. The pump is able to shape and control the flow by driving a piston through a dedicated software. Periodic waveforms are used as input to the pump to move the fluid into the pipes, with synchronization of the MRI sequences to the flow waveforms. A dedicated software is used to extract and analyze flow data from magnitude and phase images. The match between the nominal and the measured flows was assessed, and the scope of phantom variables useful for a reliable calibration of an MRI system was accordingly defined. Results showed that the NO-HYPE phantom is a valuable tool for the assessment of MRI scanners and sequence design for the MR evaluation of blood flows. Overview of the NOvel HYdrodynamic Phantom for the Evaluation of MRI flow measurements (NO-HYPE). Left: internal of the CompuFlow 1000 MR pump unit. Right: Setting of the NO-HYPE before a MRI acquisition session. Soft tissue mimicking material is hosted in the central part of the phantom (light blue chamber). Glass pipes pass through the chamber carrying the blood mimicking fluid.

Generation of annotated multimodal ground truth datasets for abdominal medical image registration

PURPOSE

Sparsity of annotated data is a major limitation in medical image processing tasks such as registration. Registered multimodal image data are essential for the diagnosis of medical conditions and the success of interventional medical procedures. To overcome the shortage of data, we present a method that allows the generation of annotated multimodal 4D datasets.

METHODS

We use a CycleGAN network architecture to generate multimodal synthetic data from the 4D extended cardiac-torso (XCAT) phantom and real patient data. Organ masks are provided by the XCAT phantom; therefore, the generated dataset can serve as ground truth for image segmentation and registration. Realistic simulation of respiration and heartbeat is possible within the XCAT framework. To underline the usability as a registration ground truth, a proof of principle registration is performed.

RESULTS

Compared to real patient data, the synthetic data showed good agreement regarding the image voxel intensity distribution and the noise characteristics. The generated T1-weighted magnetic resonance imaging, computed tomography (CT), and cone beam CT images are inherently co-registered. Thus, the synthetic dataset allowed us to optimize registration parameters of a multimodal non-rigid registration, utilizing liver organ masks for evaluation.

CONCLUSION

Our proposed framework provides not only annotated but also multimodal synthetic data which can serve as a ground truth for various tasks in medical imaging processing. We demonstrated the applicability of synthetic data for the development of multimodal medical image registration algorithms.

An MRI framework for respiratory motion modelling validation

Introduction

Respiratory motion models establish a correspondence between respiratory‐correlated (RC) 4‐dimensional (4D) imaging and respiratory surrogates, to estimate time‐resolved (TR) 3D breathing motion. To evaluate the performance of motion models on real patient data, a validation framework based on magnetic resonance imaging (MRI) is proposed, entailing the use of RC 4DMRI to build the model, and on both (i) TR 2D cine‐MRI and (ii) additional 4DMRI data for testing intra‐/inter‐fraction breathing motion variability.

Methods

Repeated MRI data were acquired in 7 patients with abdominal lesions. The considered model relied on deformable image registration (DIR) for building the model and compensating for inter‐fraction baseline variations. Both 2D and 3D validation were performed, by comparing model estimations with the ground truth 2D cine‐MRI and 4DMRI respiratory phases, respectively.

Results

The median DIR error was comparable to the voxel size (1.33 × 1.33 × 5 mm³), with higher values in the presence of large inter‐fraction motion (median value: 2.97 mm). In the 2D validation, the median estimation error on anatomical landmarks’ position resulted below 4 mm in every scenario, whereas in the 3D validation it was 1.33 mm and 4.21 mm when testing intra‐ and inter‐fraction motion, respectively. The range of motion described in the cine‐MRI was comparable to the motion of the building 4DMRI, being always above the estimation error. Overall, the model performance was dependent on DIR error, presenting reduced accuracy when inter‐fraction baseline variations occurred.

Conclusions

Results suggest the potential of the proposed framework in evaluating global motion models for organ motion management in MRI‐guided radiotherapy.

Feasibility of MR-guided radiotherapy using beam-eye-view 2D-cine with tumor-volume projection

PURPOSE

Current magnetic resonance imaging (MRI) guided radiotherapy (MRgRT) applies sagittal/coronal 2D-cine to monitor major tumor motions, however, the beam eye's view (BEV) with volumetric tumor projection would be the best measure for radiation beam conformality, independent of tumor through-plane motion. The goal is to assess the feasibility, accuracy, and performance of the BEV approach.

METHODS

Beam-specific BEV 2D-cine with volume-projected tumor contours were simulated to establish a 2D/3D tumor match against a tumor-motion library based on multi-breath time-resolved (TR) 4DMRI images. Two BEV-library-matching methods were developed: (1) fast screening with tumor center-of-mass (∆COM), in-plane area ratio, and DICE similarity, and finalizing with the highest DICE score and (2) DICE screening for top-3 candidates and finalizing with rigid registration. A 4D-XCAT digital phantom and 8 lung-cancer patients were used for assessment. For each patient, 3 sets of 40 s TR-4DMRI were acquired at 2 Hz and 6 representative BEV were created with the isocenter set at tumor COM in mid-respiration. One TR-4DMRI set (40 × 2 = 80-images) was used to simulate BEV 2D-cine and the other two (160-images) were used to create a library. The matching result was validated against the ground truth within the test set. Using a leave-one-out strategy, the success rate, accuracy, and speed of tumor matching were assessed for volume-projected tumors over 11520 time-points (=8patients•3sets•80images•6BEVs).

RESULTS

Volume-projected tumor contour area on the 6 BEVs varies by 60% ± 8% and [Formula: see text] (in-plane/volume-projected) varies by 82% ± 9%. The [Formula: see text] changes with tumor shape, orientation, and through-plane motion. Method-1 produces 96% matching success (ΔCOM = 0.7 ± 0.2 mm, [Formula: see text]=1.01 ± 0.02, Dice=0.92 ± 0.02) with the computational time of 15 ± 1 ms/match, while method-2 produces 94% ± 1% success (ΔCOM = 0.2 ± 0.1 mm, [Formula: see text]=1.00 ± 0.01, Dice = 0.94 ± 0.02) with 223 ± 13 ms/match.

CONCLUSION

This study has demonstrated the feasibility, accuracy, and benefits of BEV 2D-cine imaging with tumor-volume projection, allowing real-time tumor motion monitoring and beam conformality checking. Further clinical evaluation is necessary before MRgRT applications.

Integration of spatial distortion effects in a 4D computational phantom for simulation studies in extra-cranial MRI-guided radiation therapy: Initial results

PURPOSE

Spatial distortions in magnetic resonance imaging (MRI) are mainly caused by inhomogeneities of the static magnetic field, nonlinearities in the applied gradients, and tissue-specific magnetic susceptibility variations. These factors may significantly alter the geometrical accuracy of the reconstructed MR image, thus questioning the reliability of MRI for guidance in image-guided radiation therapy. In this work, we quantified MRI spatial distortions and created a quantitative model where different sources of distortions can be separated. The generated model was then integrated into a four-dimensional (4D) computational phantom for simulation studies in MRI-guided radiation therapy at extra-cranial sites.

METHODS

A geometrical spatial distortion phantom was designed in four modules embedding laser-cut PMMA grids, providing 3520 landmarks in a field of view of (345 × 260 × 480) mm³ . The construction accuracy of the phantom was verified experimentally. Two fast MRI sequences for extra-cranial imaging at 1.5 T were investigated, considering axial slices acquired with online distortion correction, in order to mimic practical use in MRI-guided radiotherapy. Distortions were separated into their sources by acquisition of images with gradient polarity reversal and dedicated susceptibility calculations. Such a separation yielded a quantitative spatial distortion model to be used for MR imaging simulations. Finally, the obtained spatial distortion model was embedded into an anthropomorphic 4D computational phantom, providing registered virtual CT/MR images where spatial distortions in MRI acquisition can be simulated.

RESULTS

The manufacturing accuracy of the geometrical distortion phantom was quantified to be within 0.2 mm in the grid planes and 0.5 mm in depth, including thickness variations and bending effects of individual grids. Residual spatial distortions after MRI distortion correction were strongly influenced by the applied correction mode, with larger effects in the trans-axial direction. In the axial plane, gradient nonlinearities caused the main distortions, with values up to 3 mm in a 1.5 T magnet, whereas static field and susceptibility effects were below 1 mm. The integration in the 4D anthropomorphic computational phantom highlighted that deformations can be severe in the region of the thoracic diaphragm, especially when using axial imaging with 2D distortion correction. Adaptation of the phantom based on patient-specific measurements was also verified, aiming at increased realism in the simulation.

CONCLUSIONS

The implemented framework provides an integrated approach for MRI spatial distortion modeling, where different sources of distortion can be quantified in time-dependent geometries. The computational phantom represents a valuable platform to study motion management strategies in extra-cranial MRI-guided radiotherapy, where the effects of spatial distortions can be modeled on synthetic images in a virtual environment.

Dosimetric impact of geometric distortions in an MRI-only proton therapy workflow for lung, liver and pancreas

In a radiation therapy workflow based on Magnetic Resonance Imaging (MRI), dosimetric errors may arise due to geometric distortions introduced by MRI. The aim of this study was to quantify the dosimetric effect of system-dependent geometric distortions in an MRI-only workflow for proton therapy applied at extra-cranial sites. An approach was developed, in which computed tomography (CT) images were distorted using an MRI displacement map, which represented the MR distortions in a spoiled gradient-echo sequence due to gradient nonlinearities and static magnetic field inhomogeneities. A retrospective study was conducted on 4DCT/MRI digital phantoms and 18 4DCT clinical datasets of the thoraco-abdominal site. The treatment plans were designed and separately optimized for each beam in a beam specific Planning Target Volume on the distorted CT, and the final dose distribution was obtained as the average. The dose was then recalculated in undistorted CT using the same beam geometry and beam weights. The analysis was performed in terms of Dose Volume Histogram (DVH) parameters. No clinically relevant dosimetric impact was observed on organs at risk, whereas in the target structure, geometric distortions caused statistically significant variations in the planned dose DVH parameters and dose homogeneity index (DHI). The dosimetric variations in the target structure were smaller in abdominal cases (ΔD_2%, ΔD_98%, and ΔD_mean all below 0.1% and ΔDHI below 0.003) compared to the lung cases. Indeed, lung patients with tumors isolated inside lung parenchyma exhibited higher dosimetric variations (ΔD_2%≥0.3%, ΔD_98%≥15.9%, ΔD_mean≥3.3% and ΔDHI≥0.102) than lung patients with tumor close to soft tissue (ΔD_2%≤0.4%, ΔD_98%≤5.6%, ΔD_mean≤0.9% and ΔDHI≤0.027) potentially due to higher density variations along the beam path. Results suggest the potential applicability of MRI-only proton therapy, provided that specific analysis is applied for isolated lung tumors.

Investigating the use of virtual 4DCT from 4DMRI in gated carbon ion radiation therapy of abdominal tumors

PURPOSE

To generate virtual 4DCT from 4DMRI with field of view (FOV) extended to the entire involved patient anatomy, in order to evaluate its use in carbon ion radiation therapy (CIRT) of the abdominal site in a clinical scenario.

MATERIALS AND METHODS

The virtual 4DCT was generated by deforming a reference CT in order to (1) match the anatomy depicted in the 4DMRI within its FOV, by calculating deformation fields with deformable image registration to describe inter-fractional and breathing motion, and (2) obtain physically plausible deformation outside of the 4DMRI FOV, by propagating and modulating the previously obtained deformation fields. The implemented method was validated on a digital anthropomorphic phantom, for which a ground truth (GT) 4DCT was available. A CIRT treatment plan was optimized at the end-exhale reference CT and the RBE-weighted dose distribution was recalculated on both the virtual and GT 4DCTs. The method estimation error was quantified by comparing the virtual and GT 4DCTs and the corresponding recomputed doses. The method was then evaluated on 8 patients with pancreas or liver tumors treated with CIRT using respiratory gating at end-exhale. The clinical treatment plans adopted at the National Center for Oncological Hadrontherapy (CNAO, Pavia, Italy) were considered and the dose distribution was recomputed on all respiratory phases of the planning and virtual 4DCTs. By comparing the two datasets and the corresponding dose distributions, the geometrical and dosimetric impact of organ motion was assessed.

RESULTS

For the phantom, the error outside of the 4DMRI FOV was up to 4.5mm, but it remained sub-millimetric in correspondence to the target within the 4DMRI FOV. Although the impact of motion on the target D_95% resulted in variations ranging from 22% to 90% between the planned dose and the doses recomputed on the GT 4DCT phases, the corresponding estimation error was ≤2.2%. In the patient cases, the variation of the baseline tumor position between the planning and the virtual end-exhale CTs presented a median (interquartile range) value of 6.0 (4.9) mm. For baseline variations larger than 5mm, the tumor D_95% variation between the plan and the dose recomputed on the end-exhale virtual CT resulted larger than 10%. Median variations higher than 10% in the target D_95% and gastro-intestinal OARs D_2% were quantified at the end-inhale, whereas close to the end-exhale phase, limited variations of relevant dose metrics were found for both tumor and OARs.

CONCLUSIONS

The negligible impact of the geometrical inaccuracy in the estimated anatomy outside of the 4DMRI FOV on the overall dosimetric accuracy suggests the feasibility of virtual 4DCT with extended FOV in CIRT of the abdominal site. In the analyzed patient group, inter-fractional variations such as baseline variation and breathing variability were quantified, demonstrating the method capability to support treatment planning in gated CIRT of the abdominal site.

Consistent and invertible deformation vector fields for a breathing anthropomorphic phantom: a post-processing framework for the XCAT phantom

Breathing motion is challenging for radiotherapy planning and delivery. This requires advanced four-dimensional (4D) imaging and motion mitigation strategies and associated validation tools with known deformations. Numerical phantoms such as the XCAT provide reproducible and realistic data for simulation-based validation. However, the XCAT generates partially inconsistent and non-invertible deformations where tumours remain rigid and structures can move through each other. We address these limitations by post-processing the XCAT deformation vector fields (DVF) to generate a breathing phantom with realistic motion and quantifiable deformation. An open-source post-processing framework was developed that corrects and inverts the XCAT-DVFs while preserving sliding motion between organs. Those post-processed DVFs are used to warp the first XCAT-generated image to consecutive time points providing a 4D phantom with a tumour that moves consistently with the anatomy, the ability to scale lung density as well as consistent and invertible DVFs. For a regularly breathing case, the inverse consistency of the DVFs was verified and the tumour motion was compared to the original XCAT. The generated phantom and DVFs were used to validate a motion-including dose reconstruction (MIDR) method using isocenter shifts to emulate rigid motion. Differences between the reconstructed doses with and without lung density scaling were evaluated. The post-processing framework produced DVFs with a maximum [Formula: see text]-percentile inverse-consistency error of 0.02 mm. The generated phantom preserved the dominant sliding motion between the chest wall and inner organs. The tumour of the original XCAT phantom preserved its trajectory while deforming consistently with the underlying tissue. The MIDR was compared to the ground truth dose reconstruction illustrating its limitations. MIDR with and without lung density scaling resulted in small dose differences up to 1 Gy (prescription 54 Gy). The proposed open-source post-processing framework overcomes important limitations of the original XCAT phantom and makes it applicable to a wider range of validation applications within radiotherapy.

Artificial intelligence in radiotherapy: a technological review

Radiation therapy (RT) is widely used to treat cancer. Technological advances in RT have occurred in the past 30 years. These advances, such as three-dimensional image guidance, intensity modulation, and robotics, created challenges and opportunities for the next breakthrough, in which artificial intelligence (AI) will possibly play important roles. AI will replace certain repetitive and labor-intensive tasks and improve the accuracy and consistency of others, particularly those with increased complexity because of technological advances. The improvement in efficiency and consistency is important to manage the increasing cancer patient burden to the society. Furthermore, AI may provide new functionalities that facilitate satisfactory RT. The functionalities include superior images for real-time intervention and adaptive and personalized RT. AI may effectively synthesize and analyze big data for such purposes. This review describes the RT workflow and identifies areas, including imaging, treatment planning, quality assurance, and outcome prediction, that benefit from AI. This review primarily focuses on deep-learning techniques, although conventional machine-learning techniques are also mentioned.

Virtual 4DCT from 4DMRI for the management of respiratory motion in carbon ion therapy of abdominal tumors

PURPOSE

To evaluate a method for generating virtual four-dimensional computed tomography (4DCT) from four-dimensional magnetic resonance imaging (4DMRI) data in carbon ion radiotherapy with pencil beam scanning for abdominal tumors.

METHODS

Deformable image registration is used to: (a) register each respiratory phase of the 4DMRI to the end-exhale MRI; (b) register the reference end-exhale CT to the end-exhale MRI volume; (c) generate the virtual 4DCT by warping the registered CT according to the obtained deformation fields. A respiratory-gated carbon ion treatment plan is optimized on the planning 4DCT and the corresponding dose distribution is recalculated on the virtual 4DCT. The method was validated on a digital anthropomorphic phantom and tested on eight patients (18 acquisitions). For the phantom, a ground truth dataset was available to assess the method performances from the geometrical and dosimetric standpoints. For the patients, the virtual 4DCT was compared with the planning 4DCT.

RESULTS

In the phantom, the method exhibits a geometrical accuracy within the voxel size and Dose Volume Histograms deviations up to 3.3% for target V_95% (mean dose difference ≤ 0.2% of the prescription dose, gamma pass rate > 98%). For patients, the virtual and the planning 4DCTs show good agreement at end-exhale (3% median D_95% difference), whereas other respiratory phases exhibit moderate motion variability with consequent dose discrepancies, confirming the need for motion mitigation strategies during treatment.

CONCLUSIONS

The virtual 4DCT approach is feasible to evaluate treatment plan robustness against intra- and interfraction motion in carbon ion therapy delivered at the abdominal site.

The noise navigator: a surrogate for respiratory-correlated 4D-MRI for motion characterization in radiotherapy

Respiratory-correlated 4D-MRI can characterize respiratory-induced motion of tumors and organs-at-risk for radiotherapy treatment planning and is a necessity for image guidance of moving tumors treated on an MRI-linac. Essential for 4D-MRI generation is a robust respiratory surrogate signal. We investigated the feasibility of the noise navigator as respiratory surrogate signal for 4D-MRI generation. The noise navigator is based on the respiratory-induced modulation of the thermal noise variance measured by the receive coils during MR acquisition and thus is inherently present and synchronized with MRI data acquisition. Additionally, the noise navigator can be combined with any rectilinear readout strategy (e.g. radial and cartesian) and is independent of MR image contrast and imaging orientation. For radiotherapy applications, the noise navigator provides a robust respiratory signal for patients scanned with an elevated coil setup. This is particularly attractive for widely used cartesian sequences where currently a non-interfering self-navigation means is lacking for MRI-based simulation and MRI-guided radiotherapy. The feasibility of 4D-MRI generation with the noise navigator as respiratory surrogate signal was demonstrated for both cartesian and radial readout strategies in radiotherapy setup on four healthy volunteers and two radiotherapy patients on a dedicated 1.5 T MRI scanner and two radiotherapy patients on a 1.5 T MRI-linac system. Moreover, the respiratory-correlated 4D-MR images showed liver motion comparable to a reference 2D cine MRI series for the volunteers. For 2D cartesian cine MRI acquisitions, both the noise navigator and respiratory bellows were benchmarked against an image navigator. Respiratory phase detection based on the noise navigator agreed 1.4 times better with the image navigator than the respiratory bellows did. For a 3D Stack-of-Stars acquisitions, the noise navigator was compared to radial self-navigation and a 1.7 times higher respiratory phase detection agreement was observed than for the respiratory bellows compared to radial self-navigation.

Computer-Aided Design and Manufacturing (CAD/CAM) for Bioprinting

Three-dimensional (3D) printing of human tissues and organs has been an exciting area of research for almost three decades [Bonassar and Vacanti. J Cell Biochem. 72(Suppl 30-31):297-303 (1998)]. The primary goal of bioprinting, presently, is achieving printed constructs with the overarching aim toward fully functional tissues and organs. Technology, in hand with the development of bioinks, has been identified as the key to this success. As a result, the place of computer-aided systems (design and manufacturing-CAD/CAM) cannot be underestimated and plays a significant role in this area. Unlike many reviews in this field, this chapter focuses on the technology required for 3D bioprinting from an initial background followed by the exciting area of medical imaging and how it plays a role in bioprinting. Extraction and classification of tissue types from 3D scans is discussed in addition to modeling and simulation capabilities of scanned systems. After that, the necessary area of transferring the 3D model to the printer is explored. The chapter closes with a discussion of the current state-of-the-art and inherent challenges facing the research domain to achieve 3D tissue and organ printing.

Time-resolved volumetric MRI in MRI-guided radiotherapy: an in silico comparative analysis

MRI-treatment units enable 2D cine-MRI centred in the tumour for motion detection in radiotherapy, but they lack 3D information due to spatio-temporal limits. To derive time-resolved 3D information, different approaches have been proposed in the literature, but a rigorous comparison among these strategies has not yet been performed. The goal of this study is to quantitatively investigate five published strategies that derive time-resolved volumetric MRI in MRI-guided radiotherapy: Propagation, out-of-plane motion compensation, Fayad model, ROI-based model and Stemkens model. Comparisons were performed using an MRI digital phantom generated with six different patient-derived motion signals and tumour-shapes. An average 4D cycle was generated as well as 2D cine-MRI data with corresponding 3D in-room ground truth. Quantitative analysis was performed by comparing the estimated 3D volume to the ground truth available for each 2D cine-MRI sample. A grouped patient statistical analysis was performed to evaluate the performance of the selected methods, in case of tumour tracking or motion estimation of the whole anatomy. Analyses were also performed based on patient characteristics. Quantitative ranking of the investigated methods highlighted that Propagation and ROI-based model strategies achieved an overall median tumour centre of mass 3D distance from the ground truth of 1.1 mm and 1.3 mm, respectively, and a diaphragm distance below 1.6 mm. Higher errors and variabilities were instead obtained for other methods, which lack the ability to compensate for in-room variations and to account for regional changes. These results were especially evident when further analysing patient characteristics, where errors above 2 mm/5 mm in tumour/diaphragm were found for more irregular breathing patterns in case of out-of-plane motion compensation, Fayad and Stemkens models. These findings suggest the potential of the proposed in silico framework to develop and compare strategies to estimate time-resolved 3DMRI in MRI-guided radiotherapy.

Real-time intrafraction motion monitoring in external beam radiotherapy

Radiotherapy (RT) aims to deliver a spatially conformal dose of radiation to tumours while maximizing the dose sparing to healthy tissues. However, the internal patient anatomy is constantly moving due to respiratory, cardiac, gastrointestinal and urinary activity. The long term goal of the RT community to 'see what we treat, as we treat' and to act on this information instantaneously has resulted in rapid technological innovation. Specialized treatment machines, such as robotic or gimbal-steered linear accelerators (linac) with in-room imaging suites, have been developed specifically for real-time treatment adaptation. Additional equipment, such as stereoscopic kilovoltage (kV) imaging, ultrasound transducers and electromagnetic transponders, has been developed for intrafraction motion monitoring on conventional linacs. Magnetic resonance imaging (MRI) has been integrated with cobalt treatment units and more recently with linacs. In addition to hardware innovation, software development has played a substantial role in the development of motion monitoring methods based on respiratory motion surrogates and planar kV or Megavoltage (MV) imaging that is available on standard equipped linacs. In this paper, we review and compare the different intrafraction motion monitoring methods proposed in the literature and demonstrated in real-time on clinical data as well as their possible future developments. We then discuss general considerations on validation and quality assurance for clinical implementation. Besides photon RT, particle therapy is increasingly used to treat moving targets. However, transferring motion monitoring technologies from linacs to particle beam lines presents substantial challenges. Lessons learned from the implementation of real-time intrafraction monitoring for photon RT will be used as a basis to discuss the implementation of these methods for particle RT.

A dual-purpose MRI acquisition to combine 4D-MRI and dynamic contrast-enhanced imaging for abdominal radiotherapy planning

For successful abdominal radiotherapy it is crucial to have a clear tumor definition and an accurate characterization of the motion. While dynamic contrast-enhanced (DCE) MRI aids tumor visualization, it is often hampered by motion artifacts. 4D-MRI characterizes this motion, but often lacks the contrast to clearly visualize the tumor. This dual requirement is challenging due to time constraints. Here, we propose combining both into a single acquisition by reconstructing the data in various ways in order to achieve both high spatio-temporal resolution DCE-MRI and accurate 4D-MRI motion estimates. A 5 min T₁-weigthed DCE acquisition was collected in five renal-cell carcinoma patients and simulated in a digital phantom. Data were acquired continuously using a 3D golden angle radial stack-of-stars acquisition. This enabled three types of reconstruction; (1) a high spatio-temporal resolution DCE time series, (2) a 5D reconstruction and (3) a contrast-enhanced 4D-MRI for motion characterization. Motion extracted from the 4D- and 5D-MRI was compared with a separately acquired 4D-MRI and additional 2D cine MR imaging. Simulations on XCAT showed that 5D reconstructions severely underestimated motion ([Formula: see text]), whereas contrast-enhanced 4D-MRI only underestimated motion by [Formula: see text]. This was confirmed in the in vivo data where motion of the contrast-enhanced 4D-MRI was approximately [Formula: see text] smaller than the motion in the 2D cine MRI (5.8 mm versus 6.5 mm), but equal to a separately acquired 4D-MRI (5.8 mm versus 5.9 mm). 5D reconstructions underestimated the motion by more than [Formula: see text], but minimized respiratory-induced blurring in the contrast enhanced images. DCE time-series demonstrated clear tumor visualization and contrast enhancement throughout the entire field-of-view. DCE- and 4D-MRI can be integrated into a single acquisition that enables different reconstructions with complementary information for abdominal radiotherapy planning and, in an MRI-guided treatment, precise motion information, input for motion models, and rapid feedback on the contrast enhancement.

A clustering approach to 4D MRI retrospective sorting for the investigation of different surrogates

PURPOSE

In retrospective 4-Dimensional Magnetic Resonance Imaging (4D MRI) sorting, respiratory surrogate selection affects the image quality of reconstructed volumes. We propose a method for retrospective 4D MRI sorting based on clustering, which allowed us to compare the performance of single or multiple internal surrogates vs. a conventional external signal.

METHODS

A k-medoids clustering algorithm was exploited for sorting 2D MRI into 4D MRI, relying on (A) multiple or (B) single automatically tracked internal landmarks or (C) respiratory belt signal. 4D MRI reconstructions for seven liver cancer patients were compared to those of the state-of-the-art mutual information (MI) approach. Sorting artifacts were measured by the root mean square error (RMSE) between the diaphragm profile and a fitted second order curve. Diaphragm and tumor motions were evaluated.

RESULTS

The median RMSEs ranged 0.97-1.66 mm, 1.24-1.89 mm, 1.43-2.27 mm, 1.74-3.72 mm for the MI, (A), (B) and (C) methods, respectively. Significant differences (Friedman, α = 5%) were found between (C) and all other methods, and between (B) and MI approaches. The discrepancies between (A) and MI approaches ranged 1.1-6.2 mm and 0.7-5.3 mm respectively in diaphragm and tumor motions. Methods (A) and (B) showed similar ranges of motion.

CONCLUSION

With multiple internal points, our method yielded the description of a higher range of motion and similar image quality with respect to the MI approach. The single point method led to more artifacts, suggesting the superior suitability of multiple internal surrogates for retrospective 4D MRI sorting. Considering internal rather than external information favored superior performance.

A ROI-based global motion model established on 4DCT and 2D cine-MRI data for MRI-guidance in radiation therapy

In-room magnetic resonance imaging (MRI) allows the acquisition of fast 2D cine-MRI centered in the tumor for advanced motion management in radiotherapy. To achieve 3D information during treatment, patient-specific motion models can be considered the most viable solution. However, conventional global motion models are built using a single motion surrogate, independently from the anatomical location. In this work, we present a novel motion model based on regions of interest (ROIs) established on 4D computed tomography (4DCT) and 2D cine-MRI, aiming at accurately compensating for changes during treatment. In the planning phase, a motion model is built on a 4DCT dataset, through 3D deformable image registration (DIR). ROIs are then defined and correlated with motion fields derived by 2D DIR between CT slices centered in the tumor. In the treatment phase, the model is applied to in-room cine-MRI data to compensate for organ motion in a multi-modal framework, aiming at estimating a time-resolved 3DCT. The method is validated on a digital phantom and tested on two lung patients. Analysis is performed by considering different anatomical planes (coronal, sagittal and a combination of the two) and evaluating the performance of the method on tumor and diaphragm. For the phantom study, the ROI-based model results in a uniform median error on both diaphragm and tumor below 1.5 mm. For what concerns patients, median errors on both diaphragm and tumor are around 2 mm (maximum patient resolution), confirming the capability of the method to regionally compensate for motion. A novel ROI-based motion model is proposed as an integral part of an envisioned clinical MRI-guided workflow aiming at enhanced image guidance compared to conventional strategies.

A phantom study to create synthetic CT from orthogonal twodimensional cine MRI and evaluate the effect of irregular breathing

An exciting innovation in radiotherapy is the use of real-time MRI for treatment adaptation. This study proposes an in-silico framework for the generation of 3D synthetic CT (sCT) from orthogonal interleaved 2D cine MRI data to overcome the lack of electron density information in MR images. The method uses pre-treatment data to build a patient breathing motion model. This model is then driven by surrogates extracted from cine MR images during the treatment. The effect of irregular breathing on the motion model is also evaluated by simulating different motion components related to uncorrelated diaphragm, chest and tumor motion. 3D sCT were successfully created for each of the 512 cine MRI pairs in the digital phantom study. The analysis showed that the diaphragm position was a good surrogate to rescale the 3D breathing motion for the current regular breathing phase. However, respiratory and tumor motion were correlated in only 59% of the phases, resulting in tumor position uncertainties of up to 3mm. The inclusion of additional chest and tumor motion information improved the accuracy for irregular changes in breathing pattern and enhanced the tumor position uncertainties to less than 1mm. This study successfully demonstrated a proof-ofprinciple for a digital phantom dataset based on patient parameters, providing a way to create real-time 3D electron density volumes and enhancing the need to account for irregular breathing pattern.

Development of a Computerized 4-D MRI Phantom for Liver Motion Study

Purpose:

To develop a 4-dimensional computerized magnetic resonance imaging phantom with image textures extracted from real patient scans for liver motion studies.

Methods:

The proposed phantom was developed based on the current version of 4-dimensional extended cardiac-torso computerized phantom and a clinical magnetic resonance scan. Initially, the extended cardiac-torso phantom was voxelized in abdominal–chest region at the end of exhalation phase. Structures/tissues were classified into 4 categories: (1) Seven key textured organs, including liver, gallbladder, spleen, stomach, heart, kidneys, and pancreas, were mapped from a clinical T1-weighted liver magnetic resonance scan using deformable registration. (2) Large textured soft tissue volumes were simulated via an iterative pattern generation method using the same magnetic resonance scan. (3) Lung and intestine structures were generated by assigning uniform intensity with proper noise modeling. (4) Bony structures were generated by assigning the magnetic resonance values. A spherical hypointensity tumor was inserted into the liver. Other respiratory phases of the 4-dimensional phantom were generated using the backward deformation vector fields exported by the extended cardiac-torso program, except that bony structures were generated separately for each phase. A weighted image filtering process was utilized to improve the overall tissue smoothness at each phase.

Results:

Three 4-dimensional series with different motion amplitudes were generated. The developed motion phantom produced good illustrations of abdominal–chest region with anatomical structures in key organs and texture patterns in large soft tissue volumes. In a standard series, the tumor volume was measured as 13.90 ± 0.11 cm³ in a respiratory cycle and the tumor’s maximum center-of-mass shift was 2.95 cm/1.84 cm on superior–inferior/anterior–posterior directions. The organ motion during the respiratory cycle was well rendered. The developed motion phantom has the flexibility of motion pattern variation, organ geometry variation, and tumor modeling variation.

Conclusions:

A 4-D computerized phantom was developed and could be used to produce image series with synthetic magnetic resonance textures for magnetic resonance imaging research of liver motion.