The accuracy of frameless stereotactic intracranial radiosurgery

Technical Assessment of the Targeting Accuracy of Stereotactic Frames

The precision and quality of a radiosurgical procedure depend on the ability to immobilize and position the patient's head. Often, this is accomplished by means of a mechanical headframe. The ability to accurately position the head and keep it in place during the procedure depends directly on the rigidity of the headframe. This characteristic of the Leksell headframe (Elekta, Atlanta, GA, US) was evaluated by determining the impact of typical forces encountered in clinical practice on its rigidity. A quantitative analysis of the individual forces was then used to draw conclusions on the impact of the headframe's ability to accurately position the target at the desired treatment position. This article is designed to provide guidance to the user of mechanical headframes and quantitate the positioning accuracy of this frame.

Optimization of isocenter position for multiple targets with nonuniform-margin expansion

PURPOSE

The single isocenter for multiple-target (SIMT) technique has become a popular treatment technique for multiple brain metastases. We have implemented a method to obtain a nonuniform margin for SIMT technique. In this study, we further propose a method to determine the isocenter position so that the total expanded margin volume is minimal.

MATERIALS AND METHOD

Based on a statistical model, the relationship between nonuniform margin and the distance d (from isocenter to target point), setup uncertainties, and significance level was established. Due to the existence of rotational error, there is a nonlinear relationship between the margin volume and the isocenter position. Using numerical simulation, we study the relationship between optimal isocenter position and translational error, rotational error, and target size. In order to find the optimal isocenter position quickly, adaptive simulated annealing (ASA) algorithm was used. This method was implemented in the Pinnacle3 treatment planning system and compared with isocenter at center-of-geometric (COG), center-of-volume (COV), and center-of-surface (COS). Ten patients with multiple brain metastasis targets treated with the SIMT technique was selected for evaluation.

RESULTS

When the size of tumors is equal, the optimal isocenter obtained by ASA and numerical simulation coincides with COG, COV, and COS. When the size of tumors is different, the optimal isocenter is close to the large tumor. The position of COS point is closer to the optimal point than the COV point for nearly all cases. Moreover, in some cases the COS point can be approximately selected as the optimal point. The ASA algorithm can reduce the calculating time from several hours to tens of seconds for three or more tumors. Using multiple brain metastases targets, a series of volume difference and calculating time were obtained for various tumor number, tumor size, and separation distances. Compared with the margin volume with isocenter at COG, the margin volume for optimal point can be reduced by up to 27.7%.

CONCLUSION

Optimal treatment isocenter selection of multiple targets with large differences could reduce the total margin volume. ASA algorithm can significantly improve the speed of finding the optimal isocenter. This method can be used for clinical isocenter selection and is useful for the protection of normal tissue nearby.

Dosimetric Analysis of Intra-Fraction Motion Detected by Surface-Guided Radiation Therapy During Linac Stereotactic Radiosurgery

Purpose

Stereotactic radiosurgery (SRS) immobilization with an open face mask is more comfortable and less invasive than frame based, but concerns about intrafraction motion must be addressed. Surface-guided radiation therapy (SGRT) is an attractive option for intrafraction patient monitoring because it is continuous, has submillimeter accuracy, and uses no ionizing radiation. The purpose of this study was to investigate the dosimetric consequences of uncorrected intrafraction patient motion detected during frameless linac-based SRS.

Methods and Materials

Fifty-five SRS patients were monitored during treatment using SGRT between January 1, 2017, and September 30, 2020. If SGRT detected motion >1 mm, imaging was repeated and the necessary shifts were made before continuing treatment. For the 25 patients with intrafraction 3-dimensional vector shifts of ≥1 mm, we moved the isocenter in the planning system using the translational shifts from the repeat imaging and recalculated the plans to determine the dosimetric effect of the shifts. Planning target volume (PTV) coverage, minimum gross tumor volume (GTV) dose (relative and absolute), and normal brain V12 were evaluated. Wilcoxon signed rank tests were used to compare planned and simulated dosimetric parameters and median 2 sample tests were used to investigate these differences between cone and multileaf collimator (MLC) plans.

Results

For simulated plans, V12 increased by a median of 0.01 cc (P = .006) and relative GTV minimum dose and PTV coverage decreased by a median of 15.8% (P < .001) and 10.2 % (P < .001), respectively. Absolute minimum GTV dose was found to be significantly lower in the simulated plans (P < .001). PTV coverage decreased more for simulated cone plans than for simulated MLC plans (11.6% vs 4.7%, P = .011) but median V12 differences were found to be significantly larger for MLC plans (-0.34 cc vs -0.01 cc, P = .011). Differences in GTV minimum dose between cone and MLC plans were not statistically significant.

Conclusions

SGRT detected clinically meaningful intrafraction motion during frameless SRS, which could lead to large underdoses and increased normal brain dose if uncorrected.

ISRS Technical Guidelines for Stereotactic Radiosurgery: Treatment of Small Brain Metastases (≤1 cm in Diameter)

PURPOSE

The objective of this literature review was to develop International Stereotactic Radiosurgery Society (ISRS) consensus technical guidelines for the treatment of small, ≤1 cm in maximal diameter, intracranial metastases with stereotactic radiosurgery. Although different stereotactic radiosurgery technologies are available, most of them have similar treatment workflows and common technical challenges that are described.

METHODS AND MATERIALS

A systematic review of the literature published between 2009 and 2020 was performed in Pubmed using the Preferred Reporting Items for Systematic Review and Meta-analyses (PRISMA) methodology. The search terms were limited to those related to radiosurgery of brain metastases and to publications in the English language.

RESULTS

From 484 collected abstract 37 articles were included into the detailed review and bibliographic analysis. An additional 44 papers were identified as relevant from a search of the references. The 81 papers, including additional 7 international guidelines, were deemed relevant to at least one of five areas that were considered paramount for this report. These areas of technical focus have been employed to structure these guidelines: imaging specifications, target volume delineation and localization practices, use of margins, treatment planning techniques, and patient positioning.

CONCLUSION

This systematic review has demonstrated that Stereotactic Radiosurgery (SRS) for small (1 cm) brain metastases can be safely performed on both Gamma Knife (GK) and CyberKnife (CK) as well as on modern LINACs, specifically tailored for radiosurgical procedures, However, considerable expertise and resources are required for a program based on the latest evidence for best practice.

Estimation of imaging intervals and intra-fraction displacement in CyberKnife image-guided radiotherapy for intracranial lesions

PURPOSE

A recent report by the American Association of Physicists in Medicine Task Group 75 and 180 provided imaging dose estimates for image-guided CyberKnife radiotherapy. However, to our knowledge, there have been no concrete demonstrations of imaging intervals that are directly linked to exposure dose. We hypothesized that setting a rational standard may be clearer through a balance of treatment accuracy and reducing imaging doses if the margin of the planned treatment volume is controlled through the imaging interval. This study was conducted to simulate the association between the imaging interval and intra-fraction displacement and to estimate a reasonable internal margin (IM).

METHODS

We retrospectively analyzed data from 21 shell-fixed heads of patients treated with CyberKnife G3 using our dedicated monitoring system. This system comprises pressure sensors that can monitor head displacement every 0.2 s in the absence of any imaging dose. First, the root sum square of head displacements was calculated in 76 treatment fractions with an imaging interval of 10-1440 s. The cumulative frequency of a root sum square displacement (that was less than the IM) was evaluated in image verifications that were undertaken 546,274 times for every imaging interval.

RESULTS

We found that the mean values and standard deviations (SD) of the displacement were larger in proportion to the imaging interval (p<0.002) and that the maximum displacements did not correlate in any combination within 720 s (p>0.056). The cumulative frequencies of displacement of 0.6 and 1.4 mm (i.e., less than an IM) were 99.2% and 99.1% for imaging intervals of 10 and 360 s, respectively.

CONCLUSIONS

In the current study, we found that imaging intervals were directly proportional to intra-fraction displacement and that there was no correlation in any combination within 720 s. Imaging intervals for an IM of 0.6 mm and 1.4 mm were 10 s and 360 s, respectively, with a 99% confidence interval of intra-fraction displacement. With CyberKnife M6 or a previous version of this system, the imaging dose could be reduced by 0.4760 mSv per 24-minute treatment as the imaging dose ranged from 0.4896 to 0.0136 mSv for imaging intervals of 10 and 360 s with an IM of 0.6 and 1.4 mm, respectively. A rational method that includes X-ray imaging guidance may be achieved with modulation of the imaging interval via the CyberKnife system. This article is protected by copyright. All rights reserved.

Frameless immobilization system with roll correction for stereotactic radiosurgery of intracranial brain metastases

The objectives of this study were to develop a frameless immobilization system that allows roll rotation corrections and to investigate the performance of this system for stereotactic radiosurgery (SRS) treatment. We designed the support frame of a frameless immobilization system based on the commercial Brainlab immobilization system. The support frame consisted of a fixed component and a rotating component. With rack and pinion gears and guide holes installed in the system, the rotating component was configured to be rotated along the longitudinal axis of the patient with respect to the fixed component. To evaluate the performance of the system, the six degree-of-freedom (6D) positioning corrections (translational and rotational corrections) were assessed by image verification between planning computed tomography (CT) and cone-beam computed tomography (CBCT) images. The commercial immobilization system was evaluated in the same manner for comparison. The mean translational shifts for the commercial system were 0.68 ± 0.19 mm, 0.73 ± 0.24 mm and 0.78 ± 0.19 mm, while those for the developed system were 0.44 ± 0.31 mm, 0.43 ± 0.25 mm and 0.60 ± 0.14 mm in the lateral, longitudinal and vertical directions, respectively. The mean rotational shifts for the commercial system were 0.37° ± 0.12°, 0.32° ± 0.16° and 0.38° ± 0.14°, while those for the developed system were 0.04° ± 0.04°, 0.11° ± 0.06° and 0.15° ± 0.12° along the lateral, vertical and longitudinal axes of the patient, respectively. For institutions that do not have 6D robotic couches installed, the use of the developed immobilization system can provide 6D corrections, resulting in shorter treatment times and higher patient positioning accuracy.

Evaluation of intrafractional head motion for intracranial stereotactic radiosurgery with a thermoplastic frameless mask and ceiling-floor-mounted image guidance device

PURPOSE

To evaluate intrafractional head motion (IFM) in patients who underwent intracranial stereotactic radiosurgery with the ExacTrac X-ray system (ETX) and a frameless mask.

METHODS

A total of 143 patients who completed a pre-treatment examination for IFM were eligible for this study. The frameless mask type B R408 (Klarity Medical & Equipment Co., Ltd., Guangzhou, China), which covers the back of the head, and the entire face, was used for patient immobilization. After the initial 6D correction and first X-ray verification (IFM₁), X-ray verification was performed every 3 min for a duration of 15 min. The IFM_p (2 ≤ p ≤ 6) was calculated as the positional difference from IFM₁. In addition, the inter-phase IFM (IP-IFM) and IFM_m were calculated. The IP-IFM was defined as |IFM_p - IFM_p-1|, and IFM_m as the difference between the values after all patients were asked to move their heads intentionally with the frameless mask on.

RESULTS

Both translational IFM_p and IP-IFM exceeded 1 mm for a single patient, whereas, for all patients, the translational IFM_m values were kept to within 1 mm in all directions. The proportions of the rotational IFM_p, IP-IFM, and IFM_m values within 0.5° were greater than 94.4%, 98.6%, and 90.2% for all of the rotational axes, respectively.

CONCLUSIONS

A frameless mask achieved highly accurate patient positioning in combination with ETX and a 6°-of-freedom robotic couch; however, a deviation over 1 mm and 0.5° was observed with low frequency. Therefore, X-ray verification and correction are required during treatment.

Selection of single-isocenter for multiple-target stereotactic brain radiosurgery to minimize total margin volume

Treating multiple brain metastases with a single isocenter improves efficiency but requires margins to account for rotation induced shifts that increase with target-to-isocenter distance. A method to select the single isocenter position that minimizes the total volume of normal tissue treated during multi-target stereotactic radiosurgery (SRS) is presented. A statistical framework was developed to quantify the impact of uncertainties on planning target volumes (PTV). Translational and rotational shifts were modeled with independent, zero mean, Gaussian distributions in three dimensions added in quadrature. The standard deviations of errors were varied from 0.5-2.0 mm and 0.5°-2.0°. The volume of normal tissue treated due to margin expansions required to maintain a 95% probability of target coverage was computed. Tumors were modeled as 4-40 mm diameter spheres. Target separation distance was varied from 40-100 mm for two- and three-lesion scenarios. The percent increase in PTV was determined relative to an isocenter at the geometric centroid of the targets for the optimal isocenter that minimized the total normal tissue treated, and isocenters at the center-of-mass (COM) and center-of-surface-area (CSA). For two targets, isocenter placement at the optimal location, COM, and CSA, reduced the total margin versus an isocenter at midline up to 17.8%, 17.7%, and 17.8%, respectively, for 0.5 mm and 0.5° errors. For three targets, optimal isocenter placement reduced the margin volume up to 21%, 19%, and 14%, for uncertainties of (0.5 mm, 0.5°), (1.0 mm, 1.0°), and (2.0 mm, 2.0°), respectively. COM and CSA provide useful approximations to select the optimal isocenter for multi-target single-isocenter SRS for two or three targets with maximum dimensions ⩽ 40 mm and separation distances ⩽ 100 mm when uncertainties are ⩽ 1.0 mm and ⩽ 1.0°. CSA provides a more accurate approximation than COM. Optimal treatment isocenter selection for multiple targets of large size differences can significantly reduce total margin volume.

Evaluation and verification of the QFix EncompassTM couch insert for intracranial stereotactic radiosurgery

The QFix Encompass^TM stereotactic radiosurgery (SRS) immobilization system consists of a thermoplastic mask that attaches to the couch insert to immobilize patients treated with intracranial SRS. This study evaluates the dosimetric impact and verifies a vendor provided treatment planning system (TPS) model in the Eclipse TPS. A thermoplastic mask was constructed for a Lucy 3D phantom, and was scanned with and without the Encompass^TM system. Attenuation measurements were performed in the Lucy phantom with and without the insert using a pinpoint ion chamber for energies of 6xFFF, 10xFFF and 6X, with three field sizes (2 × 2, 4 × 4, and 6 × 6 cm² ). The measurements were compared to two sets of calculations. The first set utilized the vendor provided Encompass TPS model (Encompass_TPS ), which consists of two structures: the Encompass and Encompass base structure. Three HU values for the Encompass (200, 300, 400) and Encompass Base (-600, -500, -400) structures were evaluated. The second set of calculations consists of the Encompass insert included in the external body contour (Encompass_EXT ) for dose calculation. The average measured percent attenuation in the posterior region of the insert ranged from 3.4%-3.8% for the 6xFFF beam, 2.9%-3.4% for the 10xFFF, and 3.3%-3.6% for the 6X beam. The maximum attenuation occurred at the region where the mask attaches to the insert, where attenuation up to 17% was measured for a 6xFFF beam. The difference between measured and calculated attenuation with either the Encompass_EXT or Encompass_TPS approach was within 0.5%. HU values in the Encompass_TPS model that provided the best agreement with measurement was 400 for the Encompass structure and -400 for the Encompass base structure. Significant attenuation was observed at the area where the mask attaches to the insert. Larger differences can be observed when using few static beams compared to rotational treatment techniques.

MRI-based Assessment of 3D Intrafractional Motion of Head and Neck Cancer for Radiation Therapy

PURPOSE

To determine the 3-dimensional (3D) intrafractional motion of head and neck squamous cell carcinoma (HNSCC).

METHODS AND MATERIALS

Dynamic contrast-enhanced magnetic resonance images from 56 patients with HNSCC in the treatment position were analyzed. Dynamic contrast-enhanced magnetic resonance imaging consisted of 3D images acquired every 2.9 seconds for 4 minutes 50 seconds. Intrafractional tumor motion was studied in the 3 minutes 43 seconds of images obtained after initial contrast enhancement. To assess tumor motion, rigid registration (translations only) was performed using a region of interest (ROI) mask around the tumor. The results were compared with bulk body motion from registration to all voxels. Motion was split into systematic motion and random motion. Correlations between the tumor site and random motion were tested. The within-subject coefficient of variation was determined from 8 patients with repeated baseline measures. Random motion was also assessed at the end of the first week (38 patients) and second week (25 patients) of radiation therapy to investigate trends of motion.

RESULTS

Tumors showed irregular occasional rapid motion (eg, swallowing or coughing), periodic intermediate motion (respiration), and slower systematic drifts throughout treatment. For 95% of the patients, displacements due to systematic and random motion were <1.4 mm and <2.1 mm, respectively, 95% of the time. The motion without an ROI mask was significantly (P<.0001, Wilcoxon signed rank test) less than the motion with an ROI mask, indicating that tumors can move independently from the bony anatomy. Tumor motion was significantly (P=.005, Mann-Whitney U test) larger in the hypopharynx and larynx than in the oropharynx. The within-subject coefficient of variation for random motion was 0.33. The average random tumor motion did not increase notably during the first 2 weeks of treatment.

CONCLUSIONS

The 3D intrafractional tumor motion of HNSCC is small, with systematic motion <1.4 mm and random motion <2.1 mm 95% of the time.

Clinical Evaluation of the Accuracy of an Invasive Frame Designed for Stereotactic Intracranial Radiosurgery Treatment with Helical Tomotherapy

Aims and background

The study focused on the evaluation of the accuracy of intracranial stereotactic radiosurgery treatments delivered with helical tomotherapy by means of the InterFix™ Radiosurgery kit.

Methods and study design

Twenty-two patients received stereotactic radiosurgery treatments with single fraction dose ranging from 13 to 20 Gy depending on diagnosis. Megavoltage computed tomography scans performed prior the treatments were analyzed in order to determine the position accuracy. For 8 selected cases, they were also performed at the end of the treatment to evaluate the intra-fraction motion.

Results

Mean setup errors and standard deviations were −1.6 ± 2.2 mm, −0.2 ± 1.2 mm, 0.4 ± 1.3 mm, 0.2 ± 0.5° for the lateral (IEC-x), longitudinal (IEC-y), vertical (IEC-z) directions and rotational variation (roll), respectively. Setup error was found to be greater than 3 mm-PTV expansion in 36% of the cases. Mean intra-fraction motion was 0.5 ± 0.7 mm, −0.3 ± 0.4 mm, 0.1 ± 0.5 mm and 0.1 ± 0.2° for the IEC-x, IEC-y, IEC-z and roll, respectively.

Conclusions

Observed intra-fraction movements of less than 1 mm suggested the use of the tested fixation device for stereotactic radiosurgery treatment on helical tomotherapy providing that the image-guidance procedure is always performed prior to treatment.

Delivering therapy to target: improving the odds for successful drug development

The direct delivery of drugs and other agents into tissue (in contrast to systemic administration) has been used in clinical trials for brain cancer, neurodegenerative diseases and peripheral tumors. However, continuing evidence suggests that clinical efficacy depends on adequate delivery to a target. Inadequate delivery may have doomed otherwise effective drugs, through failure to distinguish drug inefficacy from poor distribution at the target. Conventional pretreatment clinical images of the patient fail to reveal the complexity and diversity of drug transport pathways in tissue. We discuss the richness of these pathways and argue that development and patient treatment can be sped up and improved by: using quantitative as well as 'real-time' imaging; customized simulations using data from that imaging; and device designs that optimize the drug-device combination.

Clinical Positioning Accuracy for Multisession Stereotactic Radiotherapy With the Gamma Knife Perfexion

Multisession stereotactic radiation therapy is increasingly being seen as a preferred option for intracranial diseases in close proximity to critical structures and for larger target volumes. The objective of this study is to investigate the reproducibility of the Extend system from Elekta. A retrospective review was conducted for all patients treated with multisession Gamma Knife between July 2010 and June 2015, including both malignant and benign lesions. Eighty-four patients were treated in this 5-year span. The average residual daily setup uncertainty was 0.48 (0.19) mm. We compare measurements of setup uncertainty from the Extend system to measurements performed with a linac-based approach previously used in our center. The Extend system has significantly reduced setup uncertainty for fractionated intracranial treatments at our institution. Positive results were observed in a small population of edentulous patients. The Extend system compares favorably with other approaches to delivering intracranial stereotactic radiotherapy and is a robust, simple-to-use, and precise method for treating multisession intracranial lesions.

An evaluation of the BrainLAB 6D ExacTrac/Novalis Tx System for image-guided intracranial radiotherapy

Purpose

Stereotactic-fractionated radiotherapy and radiosurgery (RS) for benign and malignant intracranial lesions relies on a very high degree of accuracy in dose alignment due to the ablative dose delivered, and therefore requires a high-precision image guidance modality. The aim of this review is to investigate the localisation and verification accuracy performance of ExacTrac (ET) and Novalis Tx System.

Materials and methods

A systematic review of the database Science Direct was carried out using search terms ‘stereotactic radiotherapy (SRT)’ and ‘ET’. All articles before 2000 were excluded. Only articles that involved intracranial lesions, with the exception of one article, were included in the final review.

Results

Results from gold standard Hidden Target Tests and patient data show that patient position can be reproduced within 1·0 mm with the use of ET imaging. In addition, the 6 degrees of freedom algorithm function of ET allows for better translational accuracy as well optimal positioning when rotations are corrected for. Studies showed excellent correlation (p<0·01) between bony ET images and cone beam computed tomography (CBCT) soft tissue registration, evidencing the safe reliance of bony anatomy for image guidance via ET. Shifts were found to be comparable between CBCT and ET.

Conclusion

There is the need for regular calibration to prevent systematic errors and potential geographic miss. However, due to ET’s additional benefits, including reduced concomitant dose and faster imaging time, ET is the superior image guidance modality for RS/SRT in the treatment of intracranial lesions.

Truebeam Radiosurgery for the Treatment of Trigeminal Neuralgia: Preliminary Results at a Single Institution

INTRODUCTION

Radiosurgery is now an established method of satisfactory pain control in patients with trigeminal neuralgia (TN). The Varian Truebeam STx (Varian Medical Systems, Palo Alto, CA) linear accelerator (LINAC) system is an arc-based, frameless stereotactic radiosurgery system used for the treatment of TN. To our knowledge, there has been only one published series of patient histories that documents the use of a frameless LINAC system for the treatment of TN. We describe the treatment parameters, patient outcomes, and complications associated with the treatment of TN.

METHODS

All patients treated with the Truebeam system for TN between 2012 and 2015, with at least a six-month follow-up, were identified. A dose of 90 Gy was delivered to the isocenter using a 0.5 cm diameter cone. The cisternal segment of the trigeminal nerve was placed at the location of the LINAC isocenter using an ExacTrac™ (Brainlab, Munich, Germany) image guidance system. The radiosurgical dose, Barrow Neurologic Institute pain score (BNI PS), symptom recurrence, magnetic resonance imaging (MRI) radiographic changes, and other complications, including Barrow Neurologic Institute facial numbness score (BNI FN), were analyzed.

RESULTS

A total of 18 patients-15 women and 3 men-with a mean age of 58 years (median: 59 years; range: 22-84 years) were treated at our institution. Fourteen patients (78%) had a BNI PS of IIIb or better, which was considered successful treatment. Twelve patients had excellent (BNI PS I) pain relief and two patients had good (BNI PS II-IIIB; recurrence after one year) pain relief. The pain of four patients recurred after a mean of 10 months.

CONCLUSION

Truebeam radiosurgery can provide effective and safe treatment for patients suffering from TN. The efficacy appears similar to other frame- and frameless-based systems.

Cost-effective immobilization for whole brain radiation therapy

To investigate the inter‐ and intra‐fraction motion associated with the use of a low‐cost tape immobilization technique as an alternative to thermoplastic immobilization masks for whole‐brain treatments. The results of this study may be of interest to clinical staff with severely limited resources (e.g., in low‐income countries) and also when treating patients who cannot tolerate standard immobilization masks. Setup reproducibility of eight healthy volunteers was assessed for two different immobilization techniques. (a) One strip of tape was placed across the volunteer's forehead and attached to the sides of the treatment table. (b) A second strip was added to the first, under the chin, and secured to the table above the volunteer's head. After initial positioning, anterior and lateral photographs were acquired. Volunteers were positioned five times with each technique to allow calculation of inter‐fraction reproducibility measurements. To estimate intra‐fraction reproducibility, 5‐minute anterior and lateral videos were taken for each technique per volunteer. An in‐house software was used to analyze the photos and videos to assess setup reproducibility. The maximum intra‐fraction displacement for all volunteers was 2.8 mm. Intra‐fraction motion increased with time on table. The maximum inter‐fraction range of positions for all volunteers was 5.4 mm. The magnitude of inter‐fraction and intra‐fraction motion found using the “1‐strip” and “2‐strip” tape immobilization techniques was comparable to motion restrictions provided by a thermoplastic mask for whole‐brain radiotherapy. The results suggest that tape‐based immobilization techniques represent an economical and useful alternative to the thermoplastic mask.

Frameless image-guided radiosurgery for trigeminal neuralgia

Background:

Frameless image-guided radiosurgery (IGRS) is a safe and effective noninvasive treatment for trigeminal neuralgia (TN). This study evaluates the use of frameless IGRS to treat patients with refractory TN.

Methods:

We reviewed the records of 20 patients diagnosed with TN who underwent frameless IGRS treatments between March 2012 and December 2013. Facial pain was graded using the Barrow Neurological Institute (BNI) scoring system. The initial setup uncertainty from simulation to treatment and the patient intrafraction uncertainty were measured. The median follow-up was 32 months.

Results:

All patients’ pain was BNI Grade IV or V before the frameless IGRS treatment. The mean intrafraction shift was 0.43 mm (0.28–0.76 mm), and the maximum intrafraction shift was 0.95 mm (0.53–1.99 mm). At last follow-up, 8 (40%) patients no longer required medications (BNI 1 or 2), 11 (55%) patients were pain free but required medication (BNI 3), and 1 (5%) patient had no pain relief (BNI 5). Patients who did not have prior surgery had a higher odds ratio for pain relief compared to patients who had prior surgery (14.9, P = 0.0408).

Conclusions:

Frameless IGRS provides comparable dosimetric and clinical outcomes to frame-based SRS in a noninvasive fashion for patients with medically refractory TN.

Orthogonal image pairs coupled with OSMS for noncoplanar beam angle, intracranial, single-isocenter, SRS treatments with multiple targets on the Varian Edge radiosurgery system

Purpose

To characterize the accuracy of noncoplanar image guided radiation therapy with the Varian Edge radiosurgery system for intracranial stereotactic radiosurgery (SRS) treatments by assessing the accuracy of kV/kV orthogonal pair registration with Optical Surface Monitoring System (OSMS) monitoring relative to cone beam computed tomography (CT).

Methods and materials

A Computerized Imaging Reference System head phantom and Encompass SRS Immobilization System were used to determine collision-free space for orthogonal image pairs (kV/kV) for couch rotations (CRs) of 45°, 30°, 15°, 345°, 330°, and 315°. Couch-induced shifts were measured using kV/kV orthogonal image pairs, OSMS, and cone beam CT. The kV/kV image pairs and OSMS localization accuracy was also assessed with respect to cone beam CT.

Results

Mean orthogonal image pair differences for 315°, 330°, 345°, 15°, 30°, and 45° CRs were ≤±0.60 mm and ±0.37°. OSMS localization accuracy was ≤±0.25 mm and ±0.20°. Correspondingly, kV/kV localization accuracy was ≤±0.30 mm and ±0.5°. Shift differences for various image pairs at all CRs were ≤±1.10 mm and ±0.7°. Cone beam CT deviation was 0.10 mm and 0.00° without patient motion or CR.

Conclusion

Based on our study, CR-induced shifts with the Varian Edge radiosurgery system will not produce noticeable dosimetric effects for SRS treatments. Thus, replacing cone beam CT with orthogonal kV/kV pairs coupled with OSMS at the treatment couch angle could reduce the number of cone beam CT scans that are acquired during a standard SRS treatment while providing an accurate and safe treatment with negligible dosimetric effects on the treatment plan.

Technical Note: Evaluation of the systematic accuracy of a frameless, multiple image modality guided, linear accelerator based stereotactic radiosurgery system

PURPOSE

To evaluate the total systematic accuracy of a frameless, image guided stereotactic radiosurgery system.

METHODS

The localization accuracy and intermodality difference was determined by delivering radiation to an end-to-end prototype phantom, in which the targets were localized using optical surface monitoring system (OSMS), electromagnetic beacon-based tracking (Calypso®), cone-beam CT, "snap-shot" planar x-ray imaging, and a robotic couch. Six IMRT plans with jaw tracking and a flattening filter free beam were used to study the dosimetric accuracy for intracranial and spinal stereotactic radiosurgery treatment.

RESULTS

End-to-end localization accuracy of the system evaluated with the end-to-end phantom was 0.5 ± 0.2 mm with a maximum deviation of 0.9 mm over 90 measurements (including jaw, MLC, and cone measurements for both auto and manual fusion) for single isocenter, single target treatment, 0.6 ± 0.4 mm for multitarget treatment with shared isocenter. Residual setup errors were within 0.1 mm for OSMS, and 0.3 mm for Calypso. Dosimetric evaluation based on absolute film dosimetry showed greater than 90% pass rate for all cases using a gamma criteria of 3%/1 mm.

CONCLUSIONS

The authors' experience demonstrates that the localization accuracy of the frameless image-guided system is comparable to robotic or invasive frame based radiosurgery systems.

A Systematic Analysis of Errors in Target Localization and Treatment Delivery for Stereotactic Radiosurgery Using 2D/3D Image Registration

PURPOSE

To determine the localization uncertainties associated with 2-dimensional/3-dimensional image registration in comparison to 3-dimensional/3-dimensional image registration in 6 dimensions on a Varian Edge Linac under various imaging conditions.

METHODS

The systematic errors in 6 dimensions were assessed by comparing automatic 2-dimensional/3-dimensional (kV/MV vs computed tomography) with 3-dimensional/3-dimensional (cone beam computed tomography vs computed tomography) image registrations under various conditions encountered in clinical applications. The 2-dimensional/3-dimensional image registration uncertainties for 88 patients with different treatment sites including intracranial and extracranial were evaluated by statistically analyzing 2-dimensional/3-dimensional pretreatment verification shifts of 192 fractions in stereotactic radiosurgery and stereotactic body radiotherapy.

RESULTS

The systematic errors of 2-dimensional/3-dimensional image registration using kV-kV, MV-kV, and MV-MV image pairs were within 0.3 mm and 0.3° for the translational and rotational directions within a 95% confidence interval. No significant difference ( P > .05) in target localization was observed with various computed tomography slice thicknesses (0.8, 1, 2, and 3 mm). Two-dimensional/3-dimensional registration had the best accuracy when pattern intensity and content filter were used. For intracranial sites, means ± standard deviations of translational errors were -0.20 ± 0.70 mm, 0.04 ± 0.50 mm, and 0.10 ± 0.40 mm for the longitudinal, lateral, and vertical directions, respectively. For extracranial sites, means ± standard deviations of translational errors were -0.04 ± 1.00 mm, 0.2 ± 1.0 mm, and 0.1 ± 1.0 mm for the longitudinal, lateral, and vertical directions, respectively. Two-dimensional/3-dimensional image registration for intracranial and extracranial sites had comparable systematic errors that were approximately 0.2 mm in the translational direction and 0.08° in the rotational direction.

CONCLUSION

The standard 2-dimensional/3-dimensional image registration tool available on the Varian Edge radiosurgery device, a state-of-the-art system, is helpful for robust and accurate target positioning for image-guided stereotactic radiosurgery.

Treatment accuracy without rotational setup corrections in intracranial SRT

The aim of this study was to evaluate the impact of actual rotational setup errors on dose distributions in intracranial stereotactic radiotherapy (SRT) with different alternatives for treatment position selection. A total of 38 SRT fractions from 18 patients were retrospectively evaluated with rotational setup errors obtained from actual treatments. The planning computed tomography (CT) images were rotated according to online cone‐beam CT (CBCT) images and the dose distribution was recalculated to the rotated CT images using three different patient positionings derived from: 1) an automatic 6D match neglecting rotation correction (Auto6D); 2) an automatic 3D match (Auto3D); and 3) a manual 3D match from actual treatment (Treat3D). The mean conformity index (CI) was 0.92 for the original plans and 0.91 for the Auto6D plans. The mean CI decreased significantly (p<0.01) to 0.78 and 0.80 for the Auto3D and the Treat3D plans, respectively. The mean minimum dose of the planning target volume (PTVmin) was 91.9% of the prescribed dose for the original plans and 92.1% for the Auto6D plans, while for the Auto3D and the Treat3D plans PTVmin decreased significantly (p<0.01) to 78.9% and 80.2%, respectively. No significant differences were seen between the Auto6D and the original treatment plans in terms of the dose parameters. However, the Auto3D and the Treat3D plans were statistically significantly inferior (p<0.01) to the Auto6D and the original plans. In addition, a significant negative correlation (p<0.01,|r|>0.38) was found in the Auto3D and the Treat3D cases between the rotation error and CI, PTVmin or minimum dose of gross tumour volume. In SRT, a treatment plan of comparable quality to 6D rotation correction can be achieved by using 6D registration without a rotational correction in the selection of patient positioning. This was demonstrated for typical rotation errors seen in clinical practice.

PACS number(s): 87.55, 87.57

The Continuous Assessment of Cranial Motion in Thermoplastic Masks During CyberKnife Radiosurgery for Trigeminal Neuralgia

Stereotactic radiosurgery (SRS) treatment is characterized by high doses per fraction and extremely steep dose gradients. This requires a great degree of accurate localization to the appropriate treatment position, and continuous immobilization during the treatment session. In the case of Trigeminal Neuralgia (TGN) treatment this is especially true as the very small target volume makes positional accuracy critical. In this study we carried out a quantitative analysis of patient motion during the full treatment fraction within a radiosurgery immobilization mask system. Patient cranial movement was assessed by using the image guidance stereo x-ray cameras on a CyberKnife (CK) M6 robotic radiosurgery system (Accuray, Sunnyvale, CA). A total of five patients received treatments for either right or left TGN. The duration of treatment varied from 24-64 minutes. Orthogonal images were taken every 15 seconds during the treatment to assess patient movement. Approximately 60 stereo images were taken per patient and a total of 560 images were analyzed in this study. The mean absolute movement in each of longitudinal, lateral or vertical directions was approximately 0.3 mm for the duration of the treatment; however, on occasion much greater movement was observed during a fraction. The maximum displacement was in the longitudinal direction and reached 2.4 mm compared to the initial setup. Images taken at the end of the treatment session showed that the patients typically return to a position closer to the original setup position than the maximum excursion that occurred. This data suggests that although this mask system appears stable during much of the treatment session; for some patients there may be momentary patient movements that take place. Frequent imaging and correction can help mitigate the effect of this movement. It is important to understand the limitations of non-invasive mask systems when used for very high precision treatment.

Improved setup and positioning accuracy using a three-point customized cushion/mask/bite-block immobilization system for stereotactic reirradiation of head and neck cancer

The purpose of this study was to investigate the setup and positioning uncertainty of a custom cushion/mask/bite‐block (CMB) immobilization system and determine PTV margin for image‐guided head and neck stereotactic ablative radiotherapy (HN‐SABR). We analyzed 105 treatment sessions among 21 patients treated with HN‐SABR for recurrent head and neck cancers using a custom CMB immobilization system. Initial patient setup was performed using the ExacTrac infrared (IR) tracking system and initial setup errors were based on comparison of ExacTrac IR tracking system to corrected online ExacTrac X‐rays images registered to treatment plans. Residual setup errors were determined using repeat verification X‐ray. The online ExacTrac corrections were compared to cone‐beam CT (CBCT) before treatment to assess agreement. Intrafractional positioning errors were determined using prebeam X‐rays. The systematic and random errors were analyzed. The initial translational setup errors were −0.8±1.3 mm, −0.8±1.6 mm, and 0.3±1.9 mm in AP, CC, and LR directions, respectively, with a three‐dimensional (3D) vector of 2.7±1.4 mm. The initial rotational errors were up to 2.4° if 6D couch is not available. CBCT agreed with ExacTrac X‐ray images to within 2 mm and 2.5°. The intrafractional uncertainties were 0.1±0.6 mm, 0.1±0.6 mm, and 0.2±0.5 mm in AP, CC, and LR directions, respectively, and 0.0∘±0.5°, 0.0∘±0.6°, and −0.1∘±0.4∘ in yaw, roll, and pitch direction, respectively. The translational vector was 0.9±0.6 mm. The calculated PTV margins mPTV(90,95) were within 1.6 mm when using image guidance for online setup correction. The use of image guidance for online setup correction, in combination with our customized CMB device, highly restricted target motion during treatments and provided robust immobilization to ensure minimum dose of 95% to target volume with 2.0 mm PTV margin for HN‐SABR.

PACS number(s): 87.55.ne

Quantitative evaluation of patient setup uncertainty of stereotactic radiotherapy with the frameless 6D ExacTrac system using statistical modeling

The purpose of this study is to evaluate patient setup accuracy and quantify individual and cumulative positioning uncertainties associated with different hardware and software components of the stereotactic radiotherapy (SRS/SRT) with the frameless 6D ExacTrac system. A statistical model is used to evaluate positioning uncertainties of the different components of SRS/SRT treatment with the Brainlab 6D ExacTrac system using the positioning shifts of 35 patients having cranial lesions. All these patients are immobilized with rigid head‐and‐neck masks, simulated with Brainlab localizer and planned with iPlan treatment planning system. Stereoscopic X‐ray images (XC) are acquired and registered to corresponding digitally reconstructed radiographs using bony‐anatomy matching to calculate 6D translational and rotational shifts. When the shifts are within tolerance (0.7 mm and 1°), treatment is initiated. Otherwise corrections are applied and additional X‐rays (XV) are acquired to verify that patient position is within tolerance. The uncertainties from the mask, localizer, IR ‐frame, X‐ray imaging, MV, and kV isocentricity are quantified individually. Mask uncertainty (translational: lateral, longitudinal, vertical; rotational: pitch, roll, yaw) is the largest and varies with patients in the range (−2.07−3.71mm,−5.82−5.62mm,−5.84−3.61mm;−2.10−2.40∘,−2.23−2.60∘,and−2.7−3.00∘) obtained from mean of XC shifts for each patient. Setup uncertainty in IR positioning (0.88, 2.12, 1.40 mm, and 0.64°, 0.83°, 0.96°) is extracted from standard deviation of XC. Systematic uncertainties of the frame (0.18, 0.25, −1.27mm, −0.32∘, 0.18°, and 0.47°) and localizer (−0.03, −0.01, 0.03 mm, and −0.03∘, 0.00°, −0.01∘) are extracted from means of all XV setups and mean of all XC distributions, respectively. Uncertainties in isocentricity of the MV radiotherapy machine are (0.27, 0.24, 0.34 mm) and kV imager (0.15, −0.4, 0.21 mm). A statistical model is developed to evaluate the individual and cumulative systematic and random positioning uncertainties induced by the different hardware and software components of the 6D ExacTrac system. The uncertainties from the mask, localizer, IR frame, X‐ray imaging, couch, MV linac, and kV imager isocentricity are quantified using statistical modeling.

PACS number(s): 87.56.B‐, 87.59.B‐

Comparison of volumetric-modulated arc therapy and dynamic conformal arc treatment planning for cranial stereotactic radiosurgery

The aim was to analyze arc therapy techniques according to the number and position of the brain lesions reported by comparing dynamic noncoplanar conformal arcs (DCA), two coplanar full arcs (RAC) with volumetric-modulated arc therapy (VMAT), multiple noncoplanar partial arcs with VMAT (RANC), and two full arcs with VMAT and 10° table rotation (RAT). Patients with a single lesion (n= 10), multiple lesions (n = 10) or a single lesion close to organs at risk (n = 5) and previously treated with DCA were selected. For each patient, the DCA treatment was replanned with all VMAT techniques. All DCA plans were compared with VMAT plans and evaluated in regard to the different quality indices and dosimetric parameters. For single lesion, homogeneity index (HI) better results were found for the RANC technique (0.17 ± 0.05) compared with DCA procedure (0.27± 0.05). Concerning conformity index (CI), the RAT technique gave higher and better values (0.85 ± 0.04) compared with those obtained with the DCA technique (0.77 ± 0.05). DCA improved healthy brain protection (8.35 ± 5.61 cc vs. 10.52 ± 6.40 cc for RANC) and reduced monitor unit numbers (3046 ± 374 MU vs. 4651 ± 736 for RANC), even if global room occupation was higher. For multiple lesions, VMAT techniques provided better HI (0.16) than DCA (0.24 ± 0.07). The CI was improved with RAT (0.8 ± 0.08 for RAT vs. 0.71 ± 0.08 for DCA). The V10Gy healthy brain was better protected with DCA (9.27 ± 4.57 cc). Regarding the MU numbers: RANC < RAT< RAC < DCA. For a single lesion close to OAR, RAT achieved high degrees of homogeneity (0.27 ± 0.03 vs. 0.53 ± 0.2 for DCA) and conformity (0.72± 0.06vs. 0.56 ± 0.13 for DCA) while sparing organs at risk (Dmax = 12.36 ± 1.05Gyvs. 14.12 ± 0.59 Gy for DCA, and Dmean = 3.96 ± 3.57Gyvs. 4.72 ± 3.28Gy for DCA). On the other hand, MU numbers were lower with DCA (2254 ± 190 MUvs. 3438 ± 457 MU for RANC) even if overall time was inferior with RAC. For a single lesion, DCA provide better plan considering low doses to healthy brain even if quality indexes are better for the others techniques. For multiple lesions, RANC seems to be the best compromise, due to the ability to deliver a good conformity and homogeneity plan while sparing healthy brain tissue. For a single lesion close to organs at risk, RAT is the most appropriate technique.

Dosimetric effects of positioning shifts using 6D-frameless stereotactic Brainlab system in hypofractionated intracranial radiotherapy

Dosimetric consequences of positional shifts were studied using frameless Brainlab ExacTrac X‐ray system for hypofractionated (3 or 5 fractions) intracranial stereotactic radiotherapy (SRT). SRT treatments of 17 patients with metastatic intracranial tumors using the stereotactic system were retrospectively investigated. The treatments were simulated in a treatment planning system by modifying planning parameters with a matrix conversion technique based on positional shifts for initial infrared (IR)‐based setup (XC: X‐ray correction) and post‐correction (XV: X‐ray verification). The simulation was implemented with (a) 3D translational shifts only and (b) 6D translational and rotational shifts for dosimetric effects of angular correction. Mean translations and rotations (± 1 SD) of 77 fractions based on the initial IR setup (XC) were 0.51±0.86 mm (lateral), 0.30±1.55 mm (longitudinal), and −1.63±1.00 mm (vertical); 0.53±0.56 mm (pitch), 0.42±0.60 mm (roll), and 0.44±0.90 mm (yaw), respectively. These were −0.07±0.24 mm, −0.07±0.25 mm, 0.06±0.21 mm, 0.04±0.23 mm, 0.00±0.30 mm, and 0.02±0.22 mm, respectively, for the postcorrection (XV). Substantial degradation of the treatment plans was observed in D95 of PTV (2.6%±3.3%; simulated treatment versus treatment planning), Dmin of PTV (13.4%±11.6%), and Dmin of CTV (2.8%±3.8%, with the maximum error of 10.0%) from XC, while dosimetrically negligible changes (< 0.1%) were detected for both CTV and PTV from XV simulation. 3D angular correction significantly improved CTV dose coverage when the total angular shifts (|pitch|+|roll|+|yaw|) were greater than 2°. With the 6D stereoscopic X‐ray verification imaging and frameless immobilization, submillimeter and subdegree accuracy is achieved with negligible dosimetric deviations. 3D angular correction is required when the angular deviation is substantial. A CTV‐to‐PTV safety margin of 2 mm is large enough to prevent deterioration of CTV coverage.

PACS number: 87.55.dk

Development of a real-time monitoring system for intra-fractional motion in intracranial treatment using pressure sensors

This study developed a dedicated real-time monitoring system to detect intra-fractional head motion in intracranial radiotherapy using pressure sensors. The dedicated real-time monitoring system consists of pressure sensors with a thickness of 0.6 mm and a radius of 9.1 mm, a thermoplastic mask, a vacuum pillow, and a baseplate. The four sensors were positioned at superior-inferior and right-left sides under the occipital area. The sampling rate of pressure sensors was set to 5 Hz. First, we confirmed that the relationship between the force and the displacement of the vacuum pillow follows Hook's law. Next, the spring constant for the vacuum pillow was determined from the relationship between the force given to the vacuum pillow and the displacement of the head, detected by Cyberknife target locating system (TLS) acquisitions in clinical application. Finally, the accuracy of our system was evaluated by using the 2  ×  2 confusion matrix. The regression lines between the force, y, and the displacement, x, of the vacuum pillow were given by y = 3.8x, y = 4.4x, and y = 5.0x when the degree of inner pressure was  -12 kPa,-20 kPa, and  -27 kPa, respectively. The spring constant of the vacuum pillow was 1.6 N mm(-1) from the 6D positioning data of a total of 2999 TLS acquisitions in 19 patients. Head motions of 1 mm, 1.5 mm, and 2 mm were detected in real-time with the accuracies of 67%, 84%, and 89%, respectively. Our system can detect displacement of the head continuously during every interval of TLS with a resolution of 1-2 mm without any radiation exposure.

Clinical experience with two frameless stereotactic radiosurgery (fSRS) systems using optical surface imaging for motion monitoring

The purpose of this study was to compare two clinical immobilization systems for intracranial frameless stereotactic radiosurgery (fSRS) under the same clinical procedure using cone‐beam computed tomography (CBCT) for setup and video‐based optical surface imaging (OSI) for initial head alignment and intrafractional motion monitoring. A previously established fSRS procedure was applied using two intracranial immobilization systems: PinPoint system (head mold and mouthpiece) and Freedom system (head mold and open face mask). The CBCT was used for patient setup with four degrees of freedom (4DOF), while OSI was used for 6DOF alignment prior to CBCT, post‐CBCT setup verification at all treatment couch angles (zero and nonzero), and intrafractional motion monitoring. Quantitative comparison of the two systems includes residual head rotation, head restriction capacity, and patient setup time in 25 patients (29 lesions) using PinPoint and 8 patients (29 fractions) using Freedom. The maximum possible motion was assessed in nine volunteers with deliberate, forced movement in Freedom system. A consensus‐based comparison of patient comfort level and clinical ease of use is reported. Using OSI‐guided corrections, the maximum residual rotations in all directions were 1.1°±0.5° for PinPoint and 0.6°±0.3° for Freedom. The time spent performing rotation corrections was 5.0±4.1 min by moving the patient with PinPoint and 2.7±1.0 min by adjusting Freedom couch extension. After CBCT, the OSI–CBCT discrepancy due to different anatomic landmarks for alignment was 2.4±1.3 mm using PinPoint and 1.5±0.7 mm using Freedom. Similar results were obtained for setup verification at couch angles (<1.5 mm) and for motion restriction: 0.4±0.3 mm/0.2°±0.2° in PinPoint and 0.6±0.3 mm/0.3°±0.1° in Freedom. The maximum range of forced head motion was 2.2±1.0 mm using Freedom. Both intracranial fSRS immobilization systems can restrict head motion within 1.5 mm during treatment as monitored by OSI. Setting a motion threshold for beam‐hold ensures that head motion is constrained within the treatment margin during beam‐on periods. The capability of 6D setup is useful to improve treatment accuracy. Patient comfort and clinical workflow should play a substantial role in system selection, and Freedom system outperforms PinPoint system in these two aspects.

PACS number: 87.53.Ly, 87.55.D‐, 87.57.Q‐, 87.6s.L‐, 87.85.gi

New developments in intracranial stereotactic radiotherapy for metastases

Brain metastases are common and the prognosis for patients with multiple brain metastases treated with whole brain radiotherapy is limited. As systemic disease control continues to improve, the expectations of radiotherapy for brain metastases are growing. Stereotactic radiosurgery (SRS) as a high precision localised irradiation given in a single fraction prolongs survival in patients with a single brain metastasis and functional independence in those with up to three brain metastases. SRS technology has become commonplace and is available in many radiation oncology and neurosurgery departments. With increasing use there is a need for appropriate patient selection, refinement of dose-fractionation and safe integration of SRS with other treatment modalities. We review the evidence for current practice and new developments in the field, with a specific focus on patient-relevant outcomes.

Clinical Assessment of 2D/3D Registration Accuracy in 4 Major Anatomic Sites Using On-Board 2D Kilovoltage Images for 6D Patient Setup

To provide a comprehensive assessment of patient setup accuracy in 6 degrees of freedom (DOFs) using 2-dimensional/3-dimensional (2D/3D) image registration with on-board 2-dimensional kilovoltage (OB-2 DkV) radiographic images, we evaluated cranial, head and neck (HN), and thoracic and abdominal sites under clinical conditions. A fast 2D/3D image registration method using graphics processing unit GPU was modified for registration between OB-2 DkV and 3D simulation computed tomography (simCT) images, with 3D/3D registration as the gold standard for 6 DOF alignment. In 2D/3D registration, body roll rotation was obtained solely by matching orthogonal OB-2 DkV images with a series of digitally reconstructed radiographs (DRRs) from simCT with a small rotational increment along the gantry rotation axis. The window/level adjustments for optimal visualization of the bone in OB-2 DkV and DRRs were performed prior to registration. Ideal patient alignment at the isocenter was calculated and used as an initial registration position. In 3D/3D registration, cone-beam CT (CBCT) was aligned to simCT on bony structures using a bone density filter in 6DOF. Included in this retrospective study were 37 patients treated in 55 fractions with frameless stereotactic radiosurgery or stereotactic body radiotherapy for cranial and paraspinal cancer. A cranial phantom was used to serve as a control. In all cases, CBCT images were acquired for patient setup with subsequent OB-2 DkV verification. It was found that the accuracy of the 2D/3D registration was 0.0 ± 0.5 mm and 0.1° ± 0.4° in phantom. In patient, it is site dependent due to deformation of the anatomy: 0.2 ± 1.6 mm and -0.4° ± 1.2° on average for each dimension for the cranial site, 0.7 ± 1.6 mm and 0.3° ± 1.3° for HN, 0.7 ± 2.0 mm and -0.7° ± 1.1° for the thorax, and 1.1 ± 2.6 mm and -0.5° ± 1.9° for the abdomen. Anatomical deformation and presence of soft tissue in 2D/3D registration affect the consistency with 3D/3D registration in 6 DOF: the discrepancy increases in superior to inferior direction.

Accuracy of positional correction for the floor-mounted kV X-ray IGRT system in angled couch positions

Stereotactic irradiation (STI) requires high geometric accuracy. We evaluated the positional correction accuracy after treatment couch rotation for non-coplanar STI with a frameless mask. A steel ball was embedded as a virtual target in a head phantom with a human cranial bone structure, and the head phantom was placed in the isocenter of the treatment-planning system with the image-guide system. The Winston-Lutz test at treatment couch angles of ±90°, ±45°, and 0° was performed, and the amount of displacement from the center position at the treatment couch angle of 0° was calculated. After treatment couch rotation through each treatment couch angle, the amount of center displacement was compared between cases with and without a positional correction by the image-guide system, and then the accuracy of the positional correction after treatment couch rotation was examined. The maximum amount of three-dimensional displacement without and with positional correction after treatment couch rotation was 0.52 mm at a treatment couch angle of -90° and 0.49 mm at a treatment couch angle of -45°. These results indicate that the image-guide system provides accuracy within about 0.50 mm regardless of the positional correction even after rotation of the treatment couch.

Is ExacTrac x-ray system an alternative to CBCT for positioning patients with head and neck cancers?

PURPOSE

To evaluate the usefulness of a six-degrees-of freedom (6D) correction using ExacTrac robotics system in patients with head-and-neck (HN) cancer receiving radiation therapy.

METHODS

Local setup accuracy was analyzed for 12 patients undergoing intensity-modulated radiation therapy (IMRT). Patient position was imaged daily upon two different protocols, cone-beam computed tomography (CBCT), and ExacTrac (ET) images correction. Setup data from either approach were compared in terms of both residual errors after correction and punctual displacement of selected regions of interest (Mandible, C2, and C6 vertebral bodies).

RESULTS

On average, both protocols achieved reasonably low residual errors after initial correction. The observed differences in shift vectors between the two protocols showed that CBCT tends to weight more C2 and C6 at the expense of the mandible, while ET tends to average more differences among the different ROIs.

CONCLUSIONS

CBCT, even without 6D correction capabilities, seems preferable to ET for better consistent alignment and the capability to see soft tissues. Therefore, in our experience, CBCT represents a benchmark for positioning head and neck cancer patients.

Intrafraction variations in linac-based image-guided radiosurgery of intracranial lesions

PURPOSE

This study investigated image-guided patient positioning during frameless, mask-based, single-fraction stereotactic radiosurgery of intracranial lesions and intrafractional translational and rotational variations in patient positions.

PATIENTS AND METHODS

A non-invasive head and neck thermoplastic mask was used for immobilization. The Exactrac/Novalis Body system (BrainLAB AG, Germany) was used for kV X-ray imaging guided positioning. Intrafraction displacement data, obtained by imaging after each new table position, were evaluated.

RESULTS

There were 269 radiosurgery treatments performed on 190 patients and a total of 967 setups within different angles. The first measured error after each table rotation (mean 2.6) was evaluated (698 measurements). Intrafraction translational errors were (1 standard deviation [SD]) on average 0.8, 0.8, and 0.7mm for the left-right, superior-inferior, and anterior-posterior directions, respectively, with a mean 3D-vector of 1.0mm (SD 0.9mm) and a range from -5mm to +5mm. On average, 12%, 3%, and 1% of the translational deviations exceeded 1, 2, and 3mm, respectively, in the three directions.

CONCLUSION

The range of intrafraction patient motion in frameless image-guided stereotactic radiosurgery is often not fully mapped by pre- and post-treatment imaging. In the current study, intrafraction motion was assessed by performing measurements at several time points during the course of stereotactic radiosurgery. It was determined that 12% of the intrafraction values in the three dimensions are above 1mm, the usual safety margin applied in stereotactic radiosurgery.

A phantom study of the immobilization and the indications for using virtual isocenter in stereoscopic X-ray image guidance system referring to position localizer in frameless radiosurgery

A frameless radiosurgery system is using a set of thermoplastic mask for fixation and stereoscopic X-ray imaging for alignment. The accuracy depends on mask fixation and imaging. Under certain circumstances, the guidance images may contain insufficient bony structures, resulting in lesser accuracy. A virtual isocenter function is designed for such scenarios. In this study, we investigated the immobilization and the indications for using virtual isocenter. Twenty-four arbitrary imaginary treatment targets (ITTs) in phantom were evaluated. The external Localizer with positioner films was used as reference. The alignments by using actual and virtual isocenter in image guidance were compared. The deviation of the alignment after mask removing and then resetting was also checked. The results illustrated that the mean deviation between the alignment by image guidance using actual isocenter (Iso(img)) and the localizer(Iso(loc)) was 2.26 mm ± 1.16 mm (standard deviation, SD), 1.66 mm ± 0.83 mm for using virtual isocenter. The deviation of the alignment by the image guidance using actual isocenter to the localizer before and after mask resetting was 7.02 mm ± 5.8 mm. The deviations before and after mask resetting were insignificant for the target center from skull edge larger than 80 mm on craniocaudal direction. The deviations between the alignment using actual and virtual isocenter in image guidance were not significant if the minimum distance from target center to skull edge was larger or equal to 30 mm. Due to an unacceptable deviation after mask resetting, the image guidance is necessary to improve the accuracy of frameless immobilization. A treatment isocenter less than 30 mm from the skull bone should be an indication for using virtual isocenter to align in image guidance. The virtual isocenter should be set as caudally as possible, and the sella of skull should be the ideal point.

Technical accuracy of optical and the electromagnetic tracking systems

Thousands of operations are annually guided with computer assisted surgery (CAS) technologies. As the use of these devices is rapidly increasing, the reliability of the devices becomes ever more critical. The problem of accuracy assessment of the devices has thus become relevant. During the past five years, over 200 hazardous situations have been documented in the MAUDE database during operations using these devices in the field of neurosurgery alone. Had the accuracy of these devices been periodically assessed pre-operatively, many of them might have been prevented.

The technical accuracy of a commercial navigator enabling the use of both optical (OTS) and electromagnetic (EMTS) tracking systems was assessed in the hospital setting using accuracy assessment tools and methods developed by the authors of this paper. The technical accuracy was obtained by comparing the positions of the navigated tool tip with the phantom accuracy assessment points. Each assessment contained a total of 51 points and a region of surgical interest (ROSI) volume of 120x120x100 mm roughly mimicking the size of the human head.

The error analysis provided a comprehensive understanding of the trend of accuracy of the surgical navigator modalities. This study showed that the technical accuracies of OTS and EMTS over the pre-determined ROSI were nearly equal. However, the placement of the particular modality hardware needs to be optimized for the surgical procedure. New applications of EMTS, which does not require rigid immobilization of the surgical area, are suggested.

[Practical method for six-dimensional online correction system with image guided radiation therapy]

In this study, we developed a correction method for coordinate transformation errors that are produced in combination with the ExacTrac X-ray system (BrainLAB) and HexaPOD (Elekta) in image guided radiation therapy (IGRT). The positional accuracy of the correction method was compared between the ExacTrac Robotics (BrainLAB) and no correction. We tried to correct iBeam evo couch top (Elekta) by operating two steps drive like ExacTrac Robotics. No correction for HexaPOD showed a maximal error of 4.52 mm, and the couch did not move to the correct position. However, our correction method for HexaPOD showed the positional accuracy within 1 mm. Our method has no significant difference with ExacTrac Robotics (paired t-test, P>0.1). But, when the correction values for the rotatory directions were large, the positional accuracy tended to be poor. The smallest setup errors for the rotatory directions are important for IGRT.

[Comparison of various image guided radiation therapy systems; image-guided localization accuracy and patient throughput]

In this study, we evaluated various image guided radiation therapy (IGRT) systems regarding accuracy and patient throughput for conventional radiation therapy. We compared between 2D-2D match (the collation by 2 X-rays directions), cone beam computed tomography (CBCT), and ExacTrac X-Ray system using phantom for CLINAC iX and Synergy. All systems were able to correct within almost 1 mm. ExacTrac X-Ray system showed in particular a high accuracy. As for patient throughput, ExacTrac X-Ray system was the fastest system and 2D-2D match for Synergy was the slowest. All systems have enough ability with regard to accuracy and patient throughput on clinical use. ExacTrac X-Ray system showed superiority with accuracy and throughput, but it is important to note that we have to choose the IGRT technique depending on the treatment site, the purpose, and the patient's state.

Development of a phantom to evaluate the positioning accuracy of patient immobilization systems using thermoplastic mask and polyurethane cradle

PURPOSE

The purpose of this study was to develop a new phantom to evaluate the positioning accuracy of patient immobilization systems.

METHODS

The phantom was made of papers formed into a human shape, paper clay, and filling rigid polyester. Acrylonitrile butadiene styrene (ABS) pipes were inserted at anterior-posterior (A-P) and right-left (R-L) directions in the phantom to give static load by pulling ropes through the pipes. First, the positioning precision of the phantom utilizing a target locating system (TLS) was evaluated by moving the phantom on a couch along inferior-superior (I-S), A-P, and R-L directions in a range from -5 mm to +5 mm. The phantom's positions detected with the TLS were compared with values measured by a vernier caliper. Second, the phantom movements in a tensile test were chosen from patient movements determined from 15 patients treated for intracranial lesions and immobilized with a thermoplastic mask and polyurethane cradle. The phantom movement was given by minimum or maximum values of patient movements in each direction. Finally, the relationship between phantom movements and the static load in the tensile test was characterized from measurements using the new phantom and the TLS.

RESULTS

The differences in all positions between the vernier caliper measurement and the TLS detected values were within 0.2 mm with frequencies of 100%, 95%, and 90% in I-S, A-P, and R-L directions, respectively. The phantom movements according to patient movements in clinical application in I-S, A-P, and R-L directions were within 0.58 mm, 0.94 mm, and 0.93 mm from the mean value plus standard deviation, respectively. The regression lines between the phantom movements and static load were given by y = 0.359x, y = 0.241x, and y = 0.451x in I-S, A-P, and R-L directions, respectively, where x is the phantom movement (mm) and y is the static load (kgf). The relationship between the phantom movements and static load may represent the performance of inhibiting patient movements, so the accuracy of the immobilization system in the intracranial lesion will be estimated in advance by basic tensile test on the new phantom.

CONCLUSIONS

The newly developed phantom was useful to evaluate the accuracy of immobilization systems for a Cyberknife system for intracranial lesions.

Achieving the relocation accuracy of stereotactic frame-based cranial radiotherapy in a three-point thermoplastic shell

AIMS

To compare the accuracy of fractionated cranial radiotherapy in a standard three-point thermoplastic shell using daily online correction with accuracy in a Gill-Thomas-Cosman relocatable stereotactic frame.

MATERIALS AND METHODS

All patients undergoing fractionated radiotherapy for benign intracranial tumours between March 2009 and August 2010 were included. Patients were immobilised in the frame with those unable to tolerate it immobilised in the shell. The ExacTrac imaging system was used for verification/correction. Daily online imaging before and after correction was carried out for shell patients and systematic and random population set-up errors calculated. These were compared with frame patients who underwent standard departmental imaging/correction with fractions 1-3 and weekly thereafter. Set-up margins were calculated from population errors.

RESULTS

Systematic and random errors were 0.3-0.7 mm/° before correction and 0.1-0.2 mm/° after correction in all axes in the frame, and 0.6-1.5 mm/° before correction and 0.1-0.4 mm/° after correction in the shell. Isotropic margins required for patient set-up could be reduced from 2 mm to <1 mm in the frame and from 5 mm to <1 mm in the shell.

CONCLUSION

Similar set-up accuracy can be achieved in the standard thermoplastic shell as in a relocatable frame despite less precise immobilisation. The use of daily online correction precludes the need for larger set-up margins.

Development of digital reconstructed radiography software at new treatment facility for carbon-ion beam scanning of National Institute of Radiological Sciences

To increase the accuracy of carbon ion beam scanning therapy, we have developed a graphical user interface-based digitally-reconstructed radiograph (DRR) software system for use in routine clinical practice at our center. The DRR software is used in particular scenarios in the new treatment facility to achieve the same level of geometrical accuracy at the treatment as at the imaging session. DRR calculation is implemented simply as the summation of CT image voxel values along the X-ray projection ray. Since we implemented graphics processing unit-based computation, the DRR images are calculated with a speed sufficient for the particular clinical practice requirements. Since high spatial resolution flat panel detector (FPD) images should be registered to the reference DRR images in patient setup process in any scenarios, the DRR images also needs higher spatial resolution close to that of FPD images. To overcome the limitation of the CT spatial resolution imposed by the CT voxel size, we applied image processing to improve the calculated DRR spatial resolution. The DRR software introduced here enabled patient positioning with sufficient accuracy for the implementation of carbon-ion beam scanning therapy at our center.

[Medical devices needed for stereotactic radiosurgery and intracranial stereotactic radiotherapy]

Since the previous special issue of Cancer Radiothérapie dedicated to radiosurgery in 1998, many important technological and computer developments have improved external beam radiotherapy treatment device performances. Whereas the Gamma Knife(®) was the gold standard for intracranial radiosurgery, new linear accelerator developments have led to new possibilities for the clinicians. This article describes quickly the different devices available for cranial radiosurgery or fractionated stereotactic radiotherapy.

Clinical comparison of positional accuracy and stability between dedicated versus conventional masks for immobilization in cranial stereotactic radiotherapy using 6-degree-of-freedom image guidance system-integrated platform

PURPOSE

To compare the positioning accuracy and stability of two distinct noninvasive immobilization devices, a dedicated (D-) and conventional (C-) mask, and to evaluate the applicability of a 6-degrees-of-freedom (6D) correction, especially to the C-mask, based on our initial experience with cranial stereotactic radiotherapy (SRT) using ExacTrac (ET)/Robotics integrated into the Novalis Tx platform.

MATERIALS AND METHODS

The D- and C-masks were the BrainLAB frameless mask system and a general thermoplastic mask used for conventional radiotherapy such as whole brain irradiation, respectively. A total of 148 fractions in 71 patients and 125 fractions in 20 patients were analyzed for the D- and C-masks, respectively. For the C-mask, 3D correction was applied to the initial 10 patients, and thereafter, 6D correction was adopted. The 6D residual errors (REs) in the initial setup, after correction (pre-treatment), and during post-treatment were measured and compared.

RESULTS

The D-mask provided no significant benefit for initial setup. The post-treatment median 3D vector displacements (interquatile range) were 0.38 mm (0.22, 0.60) and 0.74 mm (0.49, 1.04) for the D- and C-masks, respectively (p<0.001). The post-treatment maximal translational REs were within 1 mm and 2 mm for the D- and C-masks, respectively, and notably within 1.5 mm for the C-mask with 6D correction. The pre-treatment 3D vector displacements were significantly correlated with those for post-treatment in both masks.

CONCLUSIONS

The D-mask confers positional stability acceptable for SRT. For the C-mask, 6D correction is also recommended, and an additional setup margin of 0.5 mm to that for the D-mask would be sufficient. The tolerance levels for the pre-treatment REs should similarly be set as small as possible for both systems.