Advanced interactive planning techniques for conformal therapy: high level beam descriptions and volumetric mapping techniques

Monte Carlo tree search -based non-coplanar trajectory design for station parameter optimized radiation therapy (SPORT)

An important yet challenging problem in LINAC-based rotational arc radiation therapy is the design of beam trajectory, which requires simultaneous consideration of delivery efficiency and final dose distribution. In this work, we propose a novel trajectory selection strategy by developing a Monte Carlo tree search (MCTS) algorithm during the beam trajectory selection process. To search through the vast number of possible trajectories, the MCTS algorithm was implemented. In this approach, a candidate trajectory is explored by starting from a leaf node and sequentially examining the next level of linked nodes with consideration of geometric and physical constraints. The maximum Upper Confidence Bounds for Trees, which is a function of average objective function value and the number of times the node under testing has been visited, was employed to intelligently select the trajectory. For each candidate trajectory, we run an inverse fluence map optimization with an infinity norm regularization. The ranking of the plan as measured by the corresponding objective function value was then fed back to update the statistics of the nodes on the trajectory. The method was evaluated with a chest wall and a brain case, and the results were compared with the coplanar and noncoplanar 4pi beam configurations. For both clinical cases, the MCTS method found effective and easy-to-deliver trajectories within an hour. As compared with the coplanar plans, it offers much better sparing of the OARs while maintaining the PTV coverage. The quality of the MCTS-generated plan is found to be comparable to the 4pi plans. Artificial intelligence based on MCTS is valuable to facilitate the design of beam trajectory and paves the way for future clinical use of non-coplanar treatment delivery.

Trajectory optimization for dynamic couch rotation during volumetric modulated arc radiotherapy

Non-coplanar radiation beams are often used in three-dimensional conformal and intensity modulated radiotherapy to reduce dose to organs at risk (OAR) by geometric avoidance. In volumetric modulated arc radiotherapy (VMAT) non-coplanar geometries are generally achieved by applying patient couch rotations to single or multiple full or partial arcs. This paper presents a trajectory optimization method for a non-coplanar technique, dynamic couch rotation during VMAT (DCR–VMAT), which combines ray tracing with a graph search algorithm. Four clinical test cases (partial breast, brain, prostate only, and prostate and pelvic nodes) were used to evaluate the potential OAR sparing for trajectory-optimized DCR–VMAT plans, compared with standard coplanar VMAT. In each case, ray tracing was performed and a cost map reflecting the number of OAR voxels intersected for each potential source position was generated. The least-cost path through the cost map, corresponding to an optimal DCR–VMAT trajectory, was determined using Dijkstra's algorithm. Results show that trajectory optimization can reduce dose to specified OARs for plans otherwise comparable to conventional coplanar VMAT techniques. For the partial breast case, the mean heart dose was reduced by 53%. In the brain case, the maximum lens doses were reduced by 61% (left) and 77% (right) and the globes by 37% (left) and 40% (right). Bowel mean dose was reduced by 15% in the prostate only case. For the prostate and pelvic nodes case, the bowel V50 Gy and V60 Gy were reduced by 9% and 45% respectively. Future work will involve further development of the algorithm and assessment of its performance over a larger number of cases in site-specific cohorts.

Choreographing couch and collimator in volumetric modulated arc therapy

PURPOSE

To design and optimize trajectory-based, noncoplanar subarcs for volumetric modulated arc therapy (VMAT) deliverable on both Varian TrueBEAM system and traditional accelerators; and to investigate their potential advantages for treating central nervous system (CNS) tumors.

METHODS AND MATERIALS

To guide the computerized selection of beam trajectories consisting of simultaneous couch, gantry, and collimator motion, a score function was implemented to estimate the geometric overlap between targets and organs at risk for each couch/gantry angle combination. An initial set of beam orientations is obtained as a function of couch and gantry angle, according to a minimum search of the score function excluding zones of collision. This set is grouped into multiple continuous and extended subarcs subject to mechanical limitations using a hierarchical clustering algorithm. After determination of couch/gantry trajectories, a principal component analysis finds the collimator angle at each beam orientation that minimizes residual target-organ at risk overlaps. An in-house VMAT optimization algorithm determines the optimal multileaf collimator position and monitor units for control points within each subarc. A retrospective study of 10 CNS patients compares the proposed method of VMAT trajectory with dynamic gantry, leaves, couch, and collimator motion (Tra-VMAT); a standard noncoplanar VMAT with no couch/collimator motion within subarcs (Std-VMAT); and noncoplanar intensity-modulated radiotherapy (IMRT) plans that were clinically used.

RESULTS

Tra-VMAT provided improved target dose conformality and lowered maximum dose to brainstem, optic nerves, and chiasm by 7.7%, 1.1%, 2.3%, and 1.7%, respectively, compared with Std-VMAT. Tra-VMAT provided higher planning target volume minimum dose and reduced maximum dose to chiasm, optic nerves, and cochlea by 6.2%, 1.3%, 6.3%, and 8.4%, respectively, and reduced cochlea mean dose by 8.7%, compared with IMRT. Tra-VMAT averaged beam-on time was comparable to Std-VMAT but significantly (45%) less than IMRT.

CONCLUSION

Optimized couch, gantry, and collimator trajectories may be integrated into VMAT with improved mechanical flexibility and may provide better dosimetric properties and improved efficiency in the treatment of CNS tumors.

Geometrical pre-planning for conformal radiotherapy

The optimum selection of beams and arcs in conformal techniques is of the outmost importance in modern radiotherapy. In this work we give a description of an analytic method to aid optimum selection, which is based on minimizing the intersection between beams and organs at risk (OAR) and on minimizing the intersection between the beam and the planning target volume (PTV). An arc-selection function that permits selection of irradiation arcs based on individual beam feasibility is introduce. The method simulates the treatment process by defining a computed beam feasibility, for every possible set of gantry-table angles, by taking into account accurately computer intersection volumes between the OAR and beams. The beams are shaped to conform the target using realistic parameters for the treatment process. The results are displayed on a virtual sphere centred at the isocenter with color-coded regions indicating beam feasibility. Arcs selections are performed by searching the map for successive gantry positions at a certain table angle, with feasibility values greater than a user-specified threshold. The accuracy of the method was confirmed by using geometrical regular shapes, as well as real clinical cases.

Dose–volume based ranking of incident beam direction and its utility in facilitating IMRT beam placement

PURPOSE

Beam orientation optimization in intensity-modulated radiation therapy (IMRT) is computationally intensive, and various single beam ranking techniques have been proposed to reduce the search space. Up to this point, none of the existing ranking techniques considers the clinically important dose-volume effects of the involved structures, which may lead to clinically irrelevant angular ranking. The purpose of this work is to develop a clinically sensible angular ranking model with incorporation of dose-volume effects and to show its utility for IMRT beam placement.

METHODS AND MATERIALS

The general consideration in constructing this angular ranking function is that a beamlet/beam is preferable if it can deliver a higher dose to the target without exceeding the tolerance of the sensitive structures located on the path of the beamlet/beam. In the previously proposed dose-based approach, the beamlets are treated independently and, to compute the maximally deliverable dose to the target volume, the intensity of each beamlet is pushed to its maximum intensity without considering the values of other beamlets. When volumetric structures are involved, the complication arises from the fact that there are numerous dose distributions corresponding to the same dose-volume tolerance. In this situation, the beamlets are not independent and an optimization algorithm is required to find the intensity profile that delivers the maximum target dose while satisfying the volumetric constraints. In this study, the behavior of a volumetric organ was modeled by using the equivalent uniform dose (EUD). A constrained sequential quadratic programming algorithm (CFSQP) was used to find the beam profile that delivers the maximum dose to the target volume without violating the EUD constraint or constraints. To assess the utility of the proposed technique, we planned a head-and-neck and abdominal case with and without the guidance of the angular ranking information. The qualities of the two types of IMRT plans were compared quantitatively.

RESULTS

An effective angular ranking model with consideration of volumetric effect has been developed. It is shown that the previously reported dose-based angular ranking represents a special case of the general formalism proposed here. Application of the technique to a abdominal and a head-and-neck IMRT case indicated that the proposed technique is capable of producing clinically sensible angular ranking. In both cases, we found that the IMRT plans obtained under the guidance of EUD-based angular ranking were improved in comparison with that obtained using the conventional uniformly spaced beams.

CONCLUSIONS

The EUD-based function is a general approach for angular ranking and allows us to identify the potentially good and bad angles for clinically complicated cases. The ranking can be used either as a guidance to facilitate the manual beam placement or as prior information to speed up the computer search for the optimal beam configuration. Thus the proposed technique should have positive clinical impact in facilitating the IMRT planning process.

A geometry based optimization algorithm for conformal external beam radiotherapy

A geometric solution of the problem of optimal orientation of beams in conformal external radiotherapy is presented. The method uses geometric derived quantities which consider the intersection volume between organs at risk (OAR) and the beam shape. In comparison to previous geometric methods a true 3D volume computation is used which takes into account beam divergence, concave shapes, as well as treatment settings such as individual beam shaping by blocks or multi-leaf collimators. For standard dosimetric cost functions used by dose optimization algorithms a corresponding set of geometric objective functions is proposed. We compare the correlations between geometric and dosimetric cost functions for two clinical cases, a prostate and a head tumour case. A correlation is observed for the prostate case, whereas for the head case it is less pronounced due to the larger part of overlapping volumes between the beams which cannot be considered by the used objectives. In comparison to not-optimized beam directions the dose distribution is significantly better for the beam directions found by the optimization of a geometric multi-objective cost function. An optimal dose distribution can easily be achieved using the geometric model. This is shown by comparing for the two cases the dose-volume histograms (DVH) of manually optimized plans by experienced planners and the DVHs of the geometrically found optimal solutions. In comparison to the manually optimized plans the solutions found by the geometric method significantly reduce the average dose in the OARs and NT, while maintaining the same PTV coverage. The optimization requires only a few seconds and could be used to improve the performance of inverse planning algorithms in radiotherapy for the determination of the optimal direction of beams.

Incorporating prior knowledge into beam orientation optimization in IMRT

PURPOSE

Selection of beam configuration in currently available intensity-modulated radiotherapy (IMRT) treatment planning systems is still based on trial-and-error search. Computer beam orientation optimization has the potential to improve the situation, but its practical implementation is hindered by the excessive computing time associated with the calculation. The purpose of this work is to provide an effective means to speed up the beam orientation optimization by incorporating a priori geometric and dosimetric knowledge of the system and to demonstrate the utility of the new algorithm for beam placement in IMRT.

METHODS AND MATERIALS

Beam orientation optimization was performed in two steps. First, the quality of each possible beam orientation was evaluated using beam's-eye-view dosimetrics (BEVD) developed in our previous study. A simulated annealing algorithm was then employed to search for the optimal set of beam orientations, taking into account the BEVD scores of different incident beam directions. During the calculation, sampling of gantry angles was weighted according to the BEVD score computed before the optimization. A beam direction with a higher BEVD score had a higher probability of being included in the trial configuration, and vice versa. The inclusion of the BEVD weighting in the stochastic beam angle sampling process made it possible to avoid spending valuable computing time unnecessarily at "bad" beam angles. An iterative inverse treatment planning algorithm was used for beam intensity profile optimization during the optimization process. The BEVD-guided beam orientation optimization was applied to an IMRT treatment of paraspinal tumor. The advantage of the new optimization algorithm was demonstrated by comparing the calculation with the conventional scheme without the BEVD weighting in the beam sampling.

RESULTS

The BEVD tool provided useful guidance for the selection of the potentially good directions for the beams to incident and was used to guide the search for the optimal beam configuration. The BEVD-guided sampling improved both optimization speed and convergence of the calculation. A comparison of several five-field IMRT treatment plans obtained with and without BEVD guidance indicated that the computational efficiency was increased by a factor of approximately 10.

CONCLUSION

Incorporation of BEVD information allows for development of a more robust tool for beam orientation optimization in IMRT planning. It enables us to more effectively use the angular degree of freedom in IMRT without paying the excessive computing overhead and brings us one step closer to the goal of automated selection of beam orientations in a clinical environment.

Pseudo beam's-eye-view as applied to beam orientation selection in intensity-modulated radiation therapy

PURPOSE

To introduce the concept of pseudo beam's-eye-view (pBEV), to establish a framework for computer-assisted beam orientation selection in intensity-modulated radiation therapy (IMRT), and to evaluate the utility of the proposed technique.

METHODS AND MATERIALS

To facilitate the selection of beam orientations for IMRT treatment planning, a scoring of beam direction was introduced. The score function was based on the maximum target dose deliverable by the beam without exceeding the tolerance doses of the critical structures. For the score function calculation, the beam portal at given gantry and couch angles was divided into a grid of beamlets. Each beamlet crossing the target was assigned the maximum intensity that could be used without exceeding the dose tolerances of the organs at risk (OARs) and normal tissue. Thereafter, a score was assigned to the beam according to the target dose delivered. The beams for the treatment were selected among those with the highest scores. In a sense, this technique is similar to the beam's-eye-view approach used in conventional radiation therapy, except that the evaluation by a human is replaced by a score function, and beam modulation is taken into account.

RESULTS

The pBEV technique was tested on two clinical cases: a paraspinal treatment and a nasopharyngeal cancer with both coplanar and noncoplanar beam configurations. The plans generated under the guidance of pBEV for the paraspinal treatment offered superior target dose uniformity and reduced OAR doses. For the nasopharyngeal cancer case, it was also found that the pBEV-selected coplanar and noncoplanar beams significantly improved the target coverage without compromising the sparing of the OARs.

CONCLUSIONS

The pBEV technique developed in this work provides a comprehensive tool for beam orientation selection in IMRT. It is especially valuable for complicated cases, where the target is surrounded by several sensitive structures and where it is difficult to select a set of good beam orientations. The pBEV technique has considerable potential for simplifying the IMRT treatment planning process and for maximizing the technical capacity of IMRT.

Definition of the supraclavicular and infraclavicular nodes: implications for three-dimensional CT-based conformal radiation therapy

PURPOSE

To delineate with computed tomography (CT) the anatomic regions containing the supraclavicular (SCV) and infraclavicular (IFV) nodal groups, to define the course of the brachial plexus, to estimate the actual radiation dose received by these regions in a series of patients treated in the traditional manner, and to compare these doses to those received with an optimized dosimetric technique.

MATERIALS AND METHODS

Twenty patients underwent contrast material-enhanced CT for the purpose of radiation therapy planning. CT scans were used to study the location of the SCV and IFV nodal regions by using outlining of readily identifiable anatomic structures that define the nodal groups. The brachial plexus was also outlined by using similar methods. Radiation therapy doses to the SCV and IFV were then estimated by using traditional dose calculations and optimized planning. A repeated measures analysis of covariance was used to compare the SCV and IFV depths and to compare the doses achieved with the traditional and optimized methods.

RESULTS

Coverage by the 90% isodose surface was significantly decreased with traditional planning versus conformal planning as the depth to the SCV nodes increased (P < .001). Significantly decreased coverage by using the 90% isodose surface was demonstrated for traditional planning versus conformal planning with increasing IFV depth (P = .015). A linear correlation was found between brachial plexus depth and SCV depth up to 7 cm.

CONCLUSION

Conformal optimized planning provided improved dosimetric coverage compared with standard techniques.

Computer-assisted selection of coplanar beam orientations in intensity-modulated radiation therapy

In intensity-modulated radiation therapy (IMRT), the incident beam orientations are often determined by a trial and error search. The conventional beam's-eye view (BEV) tool becomes less helpful in IMRT because it is frequently required that beams go through organs at risk (OARs) in order to achieve a compromise between the dosimetric objectives of the planning target volume (PTV) and the OARs. In this paper, we report a beam's-eye view dosimetrics (BEVD) technique to assist in the selection of beam orientations in IMRT. In our method, each beam portal is divided into a grid of beamlets. A score function is introduced to measure the 'goodness' of each beamlet at a given gantry angle. The score is determined by the maximum PTV dose deliverable by the beamlet without exceeding the tolerance doses of the OARs and normal tissue located in the path of the beamlet. The overall score of the gantry angle is given by a sum of the scores of all beamlets. For a given patient. the score function is evaluated for each possible beam orientation. The directions with the highest scores are then selected as the candidates for beam placement. This procedure is similar to the BEV approach used in conventional radiation therapy, except that the evaluation by a human is replaced by a score function to take into account the intensity modulation. This technique allows one to select beam orientations without the excessive computing overhead of computer optimization of beam orientation. It also provides useful insight into the problem of selection of beam orientation and is especially valuable for complicated cases where the PTV is surrounded by several sensitive structures and where it is difficult to select a set of 'good' beam orientations. Several two-dimensional (2D) model cases were used to test the proposed technique. The plans obtained using the BEVD-selected beam orientations were compared with the plans obtained using equiangular spaced beams. For all the model cases investigated, the use of BEVD-selected beam orientations improved the dose distributions significantly. These examples indicate that the technique has considerable potential for simplifying the IMRT treatment planning process and allows for better utilization of the technical capacity of IMRT.

Role of beam orientation optimization in intensity-modulated radiation therapy

PURPOSE

To investigate the role of beam orientation optimization in intensity-modulated radiation therapy (IMRT) and to examine the potential benefits of noncoplanar intensity-modulated beams.

METHODS AND MATERIALS

A beam orientation optimization algorithm was implemented. For this purpose, system variables were divided into two groups: beam position (gantry and table angles) and beam profile (beamlet weights). Simulated annealing was used for beam orientation optimization and the simultaneous iterative inverse treatment planning algorithm (SIITP) for beam intensity profile optimization. Three clinical cases were studied: a localized prostate cancer, a nasopharyngeal cancer, and a paraspinal tumor. Nine fields were used for all treatments. For each case, 3 types of treatment plan optimization were performed: (1) beam intensity profiles were optimized for 9 equiangular spaced coplanar beams; (2) orientations and intensity profiles were optimized for 9 coplanar beams; (3) orientations and intensity profiles were optimized for 9 noncoplanar beams.

RESULTS

For the localized prostate case, all 3 types of optimization described above resulted in dose distributions of a similar quality. For the nasopharynx case, optimized noncoplanar beams provided a significant gain in the gross tumor volume coverage. For the paraspinal case, orientation optimization using noncoplanar beams resulted in better kidney sparing and improved gross tumor volume coverage.

CONCLUSION

The sensitivity of an IMRT treatment plan with respect to the selection of beam orientations varies from site to site. For some cases, the choice of beam orientations is important even when the number of beams is as large as 9. Noncoplanar beams provide an additional degree of freedom for IMRT treatment optimization and may allow for notable improvement in the quality of some complicated plans.

The development of target-eye-view maps for selection of coplanar or noncoplanar beams in conformal radiotherapy treatment planning

Three-dimensional conformal radiotherapy allows the use of tightly conformed, multiple coplanar or noncoplanar beams. However, visualizing the spatial relationships between the target volume and adjacent critical structures is not always obvious or intuitive. Tools such as beam's eye view (BEV) have aided in this process and been very useful. In this study, a target-eye-view (TEV) map is developed as a functional extension of BEVs. The TEV map for a critical structure is created by checking the BEVs for all gantries and table rotations. For each possible BEV, the amount of overlap between the planning target volume (PTV) and the organ at risk (OAR) is determined. This information is presented in a Mercator spherical map, where the color tone indicates the amount of overlap between the PTV and the OAR. A composite TEV map is then created by summing the TEV grading scores for all OARs. The composite map shows beam orientations with the most overlap being light and the least overlap being dark, thus simplifying the selection of appropriate beam angles. The accuracy of the TEV maps has been confirmed separately with corresponding BEVs generated by a three-dimensional treatment planning system.

Constrained customization of non-coplanar beam orientations in radiotherapy of brain tumours

A methodology for the constrained customization of non-coplanar beam orientations in radiotherapy treatment planning has been developed and tested on a cohort of five patients with tumours of the brain. The methodology employed a combination of single and multibeam cost functions to produce customized beam orientations. The single-beam cost function was used to reduce the search space for the multibeam cost function, which was minimized using a fast simulated annealing algorithm. The scheme aims to produce well-spaced, customized beam orientations for each patient that produce low dose to organs at risk (OARs). The customized plans were compared with standard plans containing the number and orientation of beams chosen by a human planner. The beam orientation constraint-customized plans employed the same number of treatment beams as the standard plan but with beam orientations chosen by the constrained-customization scheme. Improvements from beam orientation constraint-customization were studied in isolation by customizing the beam weights of both plans using a dose-based downhill simplex algorithm. The results show that beam orientation constraint-customization reduced the maximum dose to the orbits by an average of 18.8 (+/-3.8, ISD)% and to the optic nerves by 11.4 (+/-4.8, ISD)% with no degradation of the planning target volume (PTV) dose distribution. The mean doses, averaged over the patient cohort, were reduced by 4.2 (+/-1.1, ISD)% and 12.4 (+/-3.1, ISD)% for the orbits and optic nerves respectively. In conclusion, the beam orientation constraint-customization can reduce the dose to OARs, for few-beam treatment plans, when compared with standard treatment plans developed by a human planner.

Improvements in prostate radiotherapy from the customization of beam directions

A methodology for optimizing the beam directions in radiotherapy treatment planning has been developed and tested on a cohort of twelve prostate patients. An optimization algorithm employing a an objective cost function was used, based on beam's-eye-view volumetrics but also employing a simple dose model and biological considerations for organs-at-risk (OARs). The cost function embodies information about the volume of OARs in a single field and their position relative to the planning target volume (PTV). The proximity of the PTV to the surface of the patient is also included. Within the algorithm "importance factor" were used to model the clinical importance of different organs-at-risk so that all organs-at-risk were included in a single objective score. "Gantry-angle-windows" were introduced to restrict the available beam directions. The methodology was applied to twelve prostate patients to determine the optimum beam directions for three-field direction plans. Orientation-optimized and standard treatment plans were compared via measures of tumor control probability (TCP) and normal tissue complication probability (NTCP). Standard plans had fixed beam directions whereas orientation-optimized plans contained beam directions chosen by the algorithm. The beam-weights of both the orientation-optimized and standard plans were optimized using a dose-based simulated annealing algorithm to allow the improvements by optimizing the beam directions to be studied in isolation. The results of the comparison show that optimization of the beam directions yielded better plans, in terms of TCP and NTCP, than the standard plans. When the dose to the isocenter was scaled to produce a rectal NTCP of 1%, the average TCP of the orientation-optimized plans was (5.7 +/- 1.4)% greater than that for the standard plans. In conclusion, the customization of beam directions in the treatment planning of prostate patients using and objective cost function and allowed gantry-angle-windows produces superior three-field direction plans compared to standard treatment plans.

[Virtual simulation: means and methodology]

State of the art imaging and computer systems coupled with the development of superior visualisation and multiplane reconstruction software have opened new perspectives in treatment planning. "Virtual simulation" of the irradiation technique allows definition in 3D of the optimised geometrical characteristics of the treatment beams with respect to anatomical structures of the patient. One can then visualise the beam direction and target volume coverage in the "virtual patient", leading to very precise radiotherapy. However, this "three dimensional" approach requires not only technical means, but also a methodology and an appropriate system of quality assurance for each step of the treatment planning, as well as significant multidisciplinary input.