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

Modelling of a novel technique to improve the visualisation of implanted fiducial markers for intra-fraction MV imaging of prostate VMAT targets

Purpose. This study explored a novel technique to improve the MV imaging based fiducial visibility for a cohort of prostate radiotherapy patients, without compromising the original treatment plan. The study also compared these results to visibility using single MLC control points, as well as short arcs.Methods. Geometric data from 68 prostate radiotherapy treatments, each with implanted gold fiducials, was retrospectively analysed. Fiducials were contoured for each patient, and conventional and SBRT treatment plans were generated using a VMAT technique. Using an in-house script, fiducial contours were projected onto the VMAT MLC control points. Resulting data was assessed to determine whether the fiducial contours were theoretically visible for single MLC control points and groups of MLC control points (short arcs), both being surrogates for intra-fraction MV imaging. Using this data, a theoretical quadrant technique was investigated that assessed the region surrounding each fiducial to determine if visualisation would theoretically improve.Results. Using a conventional treatment type, mean fiducial visibility for single MLC control points across the patient cohort ranged from 2.5% up to 17.8%. For SBRT, fiducial visibility ranged from 1.8% up to 19.7%. For short arcs, fiducial visibility for conventional treatment types ranged from 5.9% up to 20.7%. For SBRT, fiducial visibility ranged from 4.6% up to 23.1%. When the novel fiducial quadrant technique was used, theoretical visibility improved two-fold, from 22.7% up to 52.5% and from 24.7% up to 55.3% for conventional and SBRT treatment types respectively.Conclusions. Fiducial visibility was assessed for a cohort of VMAT prostate patients. Using the novel quadrant technique, it was demonstrated that theoretical visualisation and localisation of the implanted fiducials could be improved two-fold, without sacrificing treatment plan quality.

Continuous monitoring of prostate position using stereoscopic and monoscopic kV image guidance

PURPOSE

To demonstrate continuous kV x-ray monitoring of prostate motion using both stereoscopic and monoscopic localizations, assess the spatial accuracy of these techniques, and evaluate the dose delivered from the added image guidance.

METHODS

The authors implemented both stereoscopic and monoscopic fiducial localizations using a room-mounted dual oblique x-ray system. Recently developed monoscopic 3D position estimation techniques potentially overcome the issue of treatment head interference with stereoscopic imaging at certain gantry angles. To demonstrate continuous position monitoring, a gold fiducial marker was placed in an anthropomorphic phantom and placed on the Linac couch. The couch was used as a programmable translation stage. The couch was programmed with a series of patient prostate motion trajectories exemplifying five distinct categories: stable prostate, slow drift, persistent excursion, transient excursion, and high frequency excursions. The phantom and fiducial were imaged using 140 kVp, 0.63 mAs per image at 1 Hz for a 60 s monitoring period. Both stereoscopic and monoscopic 3D localization accuracies were assessed by comparison to the ground-truth obtained from the Linac log file. Imaging dose was also assessed, using optically stimulated luminescence dosimeter inserts in the phantom.

RESULTS

Stereoscopic localization accuracy varied between 0.13 ± 0.05 and 0.33 ± 0.30 mm, depending on the motion trajectory. Monoscopic localization accuracy varied from 0.2 ± 0.1 to 1.1 ± 0.7 mm. The largest localization errors were typically observed in the left-right direction. There were significant differences in accuracy between the two monoscopic views, but which view was better varied from trajectory to trajectory. The imaging dose was measured to be between 2 and 15 μGy/mAs, depending on location in the phantom.

CONCLUSIONS

The authors have demonstrated the first use of monoscopic localization for a room-mounted dual x-ray system. Three-dimensional position estimation from monoscopic imaging permits continuous, uninterrupted intrafraction motion monitoring even in the presence of gantry rotation, which may block kV sources or imagers. This potentially allows for more accurate treatment delivery, by ensuring that the prostate does not deviate substantially from the initial setup position.

Automated marker tracking using noisy X-ray images degraded by the treatment beam

This study demonstrates the feasibility of automated marker tracking for the real-time detection of intrafractional target motion using noisy kilovoltage (kV) X-ray images degraded by the megavoltage (MV) treatment beam. The authors previously introduced the in-line imaging geometry, in which the flat-panel detector (FPD) is mounted directly underneath the treatment head of the linear accelerator. They found that the 121 kVp image quality was severely compromised by the 6 MV beam passing through the FPD at the same time. Specific MV-induced artefacts present a considerable challenge for automated marker detection algorithms. For this study, the authors developed a new imaging geometry by re-positioning the FPD and the X-ray tube. This improved the contrast-to-noise-ratio between 40% and 72% at the 1.2 mAs/image exposure setting. The increase in image quality clearly facilitates the quick and stable detection of motion with the aid of a template matching algorithm. The setup was tested with an anthropomorphic lung phantom (including an artificial lung tumour). In the tumour one or three Calypso beacons were embedded to achieve better contrast during MV radiation. For a single beacon, image acquisition and automated marker detection typically took around 76 ± 6 ms. The success rate was found to be highly dependent on imaging dose and gantry angle. To eliminate possible false detections, the authors implemented a training phase prior to treatment beam irradiation and also introduced speed limits for motion between subsequent images.

Intrafractional prostate motion during external beam radiotherapy monitored by a real-time target localization system

This paper investigates the clinical significance of real‐time monitoring of intrafractional prostate motion during external beam radiotherapy using a commercial 4D localization system. Intrafractional prostate motion was tracked during 8,660 treatment fractions for 236 patients. The following statistics were analyzed: 1) the percentage of fractions in which the prostate shifted 2−7 mm for a certain duration; 2) the proportion of the entire tracking time during which the prostate shifted 2−7 mm; and 3) the proportion of each minute in which the shift exceeded 2−7 mm. The ten patients exhibiting maximum intrafractional‐motion patterns were analyzed separately. Our results showed that the percentage of fractions in which the prostate shifted by >2,3,5,and 7 mm off the baseline in any direction for >30 s was 56.8%, 27.2%, 4.6%, and 0.7% for intact prostate and 68.7%, 35.6%, 10.1%, and 1.8% for postprostatectomy patients, respectively. For the ten patients, these percentages were 91.3%, 72.4%, 36.3%, and 6%, respectively. The percentage of tracking time during which the prostate shifted >2,3,5,and 7 mm was 27.8%, 10.7%, 1.6%, and 0.3%, respectively, and it was 56.2%, 33.7%, 11.2%, and 2.1%, respectively, for the ten patients. The percentage of tracking time for a >3 mm posterior motion was four to five times higher than that in other directions. For treatments completed in 5 min (VMAT) and 10 min (IMRT), the proportion for the prostate to shift by >3 mm was 4% and 12%, respectively. Although intrafractional prostate motion was generally small, caution should be taken for patients who exhibit frequent large intrafractional motion. For those patients, adjustment of patient positioning may be necessary or a larger treatment margin may be used. After the initial alignment, the likelihood of prostate motion increases with time. Therefore, it is favorable to use advanced techniques (e.g., VMAT) that require less delivery time in order to reduce the treatment uncertainty resulting from intrafractional prostate motion.

PACS number: 87.50.S‐, 87.53.Kn, 87.55.N‐, 87.55.ne

A novel approach for establishing benchmark CBCT/CT deformable image registrations in prostate cancer radiotherapy

Deformable image registration (DIR) is an integral component for adaptive radiation therapy. However, accurate registration between daily cone-beam computed tomography (CBCT) and treatment planning CT is challenging, due to significant daily variations in rectal and bladder fillings as well as the increased noise levels in CBCT images. Another significant challenge is the lack of 'ground-truth' registrations in the clinical setting, which is necessary for quantitative evaluation of various registration algorithms. The aim of this study is to establish benchmark registrations of clinical patient data. Three pairs of CT/CBCT datasets were chosen for this institutional review board approved retrospective study. On each image, in order to reduce the contouring uncertainty, ten independent sets of organs were manually delineated by five physicians. The mean contour set for each image was derived from the ten contours. A set of distinctive points (round natural calcifications and three implanted prostate fiducial markers) were also manually identified. The mean contours and point features were then incorporated as constraints into a B-spline based DIR algorithm. Further, a rigidity penalty was imposed on the femurs and pelvic bones to preserve their rigidity. A piecewise-rigid registration approach was adapted to account for the differences in femur pose and the sliding motion between bones. For each registration, the magnitude of the spatial Jacobian (|JAC|) was calculated to quantify the tissue compression and expansion. Deformation grids and finite-element-model-based unbalanced energy maps were also reviewed visually to evaluate the physical soundness of the resultant deformations. Organ DICE indices (indicating the degree of overlap between registered organs) and residual misalignments of the fiducial landmarks were quantified. Manual organ delineation on CBCT images varied significantly among physicians with overall mean DICE index of only 0.7 among redundant contours. Seminal vesicle contours were found to have the lowest correlation amongst physicians (DICE = 0.5). After DIR, the organ surfaces between CBCT and planning CT were in good alignment with mean DICE indices of 0.9 for prostate, rectum, and bladder, and 0.8 for seminal vesicles. The Jacobian magnitudes |JAC| in the prostate, rectum, and seminal vesicles were in the range of 0.4-1.5, indicating mild compression/expansion. The bladder volume differences were larger between CBCT and CT images with mean |JAC| values of 2.2, 0.7, and 1.0 for three respective patients. Bone deformation was negligible (|JAC| = ∼ 1.0). The difference between corresponding landmark points between CBCT and CT was less than 1.0 mm after DIR. We have presented a novel method of establishing benchmark DIR accuracy between CT and CBCT images in the pelvic region. The method incorporates manually delineated organ surfaces and landmark points as well as pixel similarity in the optimization, while ensuring bone rigidity and avoiding excessive deformation in soft tissue organs. Redundant contouring is necessary to reduce the overall registration uncertainty.

Real-time automatic fiducial marker tracking in low contrast cine-MV images

PURPOSE

To develop a real-time automatic method for tracking implanted radiographic markers in low-contrast cine-MV patient images used in image-guided radiation therapy (IGRT).

METHODS

Intrafraction motion tracking using radiotherapy beam-line MV images have gained some attention recently in IGRT because no additional imaging dose is introduced. However, MV images have much lower contrast than kV images, therefore a robust and automatic algorithm for marker detection in MV images is a prerequisite. Previous marker detection methods are all based on template matching or its derivatives. Template matching needs to match object shape that changes significantly for different implantation and projection angle. While these methods require a large number of templates to cover various situations, they are often forced to use a smaller number of templates to reduce the computation load because their methods all require exhaustive search in the region of interest. The authors solve this problem by synergetic use of modern but well-tested computer vision and artificial intelligence techniques; specifically the authors detect implanted markers utilizing discriminant analysis for initialization and use mean-shift feature space analysis for sequential tracking. This novel approach avoids exhaustive search by exploiting the temporal correlation between consecutive frames and makes it possible to perform more sophisticated detection at the beginning to improve the accuracy, followed by ultrafast sequential tracking after the initialization. The method was evaluated and validated using 1149 cine-MV images from two prostate IGRT patients and compared with manual marker detection results from six researchers. The average of the manual detection results is considered as the ground truth for comparisons.

RESULTS

The average root-mean-square errors of our real-time automatic tracking method from the ground truth are 1.9 and 2.1 pixels for the two patients (0.26 mm/pixel). The standard deviations of the results from the 6 researchers are 2.3 and 2.6 pixels. The proposed framework takes about 128 ms to detect four markers in the first MV images and about 23 ms to track these markers in each of the subsequent images.

CONCLUSIONS

The unified framework for tracking of multiple markers presented here can achieve marker detection accuracy similar to manual detection even in low-contrast cine-MV images. It can cope with shape deformations of fiducial markers at different gantry angles. The fast processing speed reduces the image processing portion of the system latency, therefore can improve the performance of real-time motion compensation.

A double-blind placebo-controlled randomized clinical trial with magnesium oxide to reduce intrafraction prostate motion for prostate cancer radiotherapy

PURPOSE

To investigate whether magnesium oxide during external-beam radiotherapy for prostate cancer reduces intrafraction prostate motion in a double-blind, placebo-controlled randomized trial.

METHODS AND MATERIALS

At the Department of Radiotherapy, prostate cancer patients scheduled for intensity-modulated radiotherapy (77 Gy in 35 fractions) using fiducial marker-based position verification were randomly assigned to receive magnesium oxide (500 mg twice a day) or placebo during radiotherapy. The primary outcome was the proportion of patients with clinically relevant intrafraction prostate motion, defined as the proportion of patients who demonstrated in ≥ 50% of the fractions an intrafraction motion outside a range of 2 mm. Secondary outcome measures included quality of life and acute toxicity.

RESULTS

In total, 46 patients per treatment arm were enrolled. The primary endpoint did not show a statistically significant difference between the treatment arms with a percentage of patients with clinically relevant intrafraction motion of 83% in the magnesium oxide arm as compared with 80% in the placebo arm (p = 1.00). Concerning the secondary endpoints, exploratory analyses demonstrated a trend towards worsened quality of life and slightly more toxicity in the magnesium oxide arm than in the placebo arm; however, these differences were not statistically significant.

CONCLUSIONS

Magnesium oxide is not effective in reducing the intrafraction prostate motion during external-beam radiotherapy, and therefore there is no indication to use it in clinical practice for this purpose.

Influence of antiflatulent dietary advice on intrafraction motion for prostate cancer radiotherapy

PURPOSE

To evaluate the effect of an antiflatulent dietary advice on the intrafraction prostate motion in patients treated with intensity-modulated radiotherapy (IMRT) for prostate cancer.

METHODS AND MATERIALS

Between February 2002 and December 2009, 977 patients received five-beam IMRT for prostate cancer to a dose of 76 Gy in 35 fractions combined with fiducial markers for position verification. In July 2008, the diet, consisting of dietary guidelines to obtain regular bowel movements and to reduce intestinal gas by avoiding certain foods and air swallowing, was introduced to reduce the prostate motion. The intrafraction prostate movement was determined from the portal images of the first segment of all five beams. Clinically relevant intrafraction motion was defined as ≥50% of the fractions with an intrafraction motion outside a range of 3 mm.

RESULTS

A total of 739 patients were treated without the diet and 105 patients were treated with radiotherapy after introduction of the diet. The median and interquartile range of the average intrafraction motion per patient was 2.53 mm (interquartile range, 2.2-3.0) without the diet and 3.00 mm (interquartile range, 2.4-3.5) with the diet (p < .0001). The percentage of patients with clinically relevant intrafraction motion increased statistically significant from 19.1% without diet to 42.9% with a diet (odds ratio, 3.18; 95% confidence interval, 2.07-4.88; p < .0001).

CONCLUSIONS

The results of the present study suggest that antiflatulent dietary advice for patients undergoing IMRT for prostate cancer does not reduce the intrafraction movement of the prostate. Therefore, antiflatulent dietary advice is not recommended in clinical practice for this purpose.

Four-dimensional cone-beam computed tomography and digital tomosynthesis reconstructions using respiratory signals extracted from transcutaneously inserted metal markers for liver SBRT

PURPOSE

Respiration-induced intrafraction target motion is a concern in liver cancer radiotherapy, especially in stereotactic body radiotherapy (SBRT), and therefore, verification of its motion is necessary. An effective means to localize the liver cancer is to insert metal fiducial markers to or near the tumor with simultaneous imaging using cone-beam computed tomography (CBCT). Utilizing the fiducial markers, the authors have demonstrated a method to generate breath-induced motion signal of liver for reconstructing 4D digital tomosynthesis (4DDTS) and 4DCBCT images based on phasewise and/or amplitudewise sorting of projection data.

METHODS

The marker extraction algorithm is based on template matching of a prior known marker image and has been coded to optimally extract marker positions in CBCT projections from the On-Board Imager (Varian Medical Systems, Palo Alto, CA). To validate the algorithm, multiple projection images of moving thorax phantom and five patient cases were examined. Upon extraction of the motion signals from the markers, 4D image sorting and image reconstructions were subsequently performed. In the case of incomplete signals due to projections with missing markers, the authors have implemented signal profiling to replace the missing portion.

RESULTS

The proposed marker extraction algorithm was shown to be very robust and accurate in the phantom and patient cases examined. The maximum discrepancy of the algorithm predicted marker location versus operator selected location was < 1.2 mm, with the overall average of 0.51 +/- 0.15 mm, for 500 projections. The resulting 4DDTS and 4DCBCT images showed clear reduction in motion-induced blur of the markers and the anatomy for an effective image guidance. The signal profiling method was useful in replacing missing signals.

CONCLUSIONS

The authors have successfully demonstrated that motion tracking of fiducial markers and the subsequent 4D reconstruction of CBCT and DTS are possible. Due to the significant reduction in motion-induced image blur, it is anticipated that such technology will be useful in image-guided liver SBRT treatments.

Comparison of the accuracy and precision of prostate localization with 2D-2D and 3D images

BACKGROUND AND PURPOSE

Positional uncertainties related to the set-up of the prostate, using internal markers and either 2D-2D or 3D images, were studied. Set-up using direct prostate localization on CBCT scans is compared to set-up using internal markers.

MATERIAL AND METHODS

20 patients with prostate cancer were enrolled in the study. After each daily session, a set of 2D-2D and 3D images were acquired. The images isocenter was compared to reference images isocenter. For the set-up error analysis the systematic error, μ, and the set-up uncertainties, Σ and σ, were determined for the translational shift in the three directions, lat, lng and vrt. The set-up errors and uncertainties were calculated in the same way for rotations around the three axes, lat, lng and vrt.

RESULTS

Set-up uncertainties were evaluated for four different set-up methods. The systematic error uncertainties were found to be in the range 0.38-1.14 mm and for the random error 0.79-1.48 mm. For rotations the uncertainties ranges were 0.38-1.59° and 0.91-2.18° for systematic and random uncertainties, respectively. Set-up uncertainties, using internal markers or prostate itself to position the target in the isocenter, were comparable. The correlation between the two methods was better for translational shifts of the isocenter than for rotational shifts.

CONCLUSIONS

The study shows that the precision of the 2D-2D set-up is equivalent to the precision of the 3D images. It also shows that the soft-tissue based set-up needs 1 mm larger set-up margins than the marker based set-up for the prostate patients, when CBCT is used for daily verification of the location of the prostate.

Intrafractional target motions and uncertainties of treatment setup reference systems in accelerated partial breast irradiation

PURPOSE

This study investigated the magnitude of intrafractional motion and level of accuracy of various setup strategies in accelerated partial breast irradiation (APBI) using three-dimensional conformal external beam radiotherapy.

METHODS AND MATERIALS

At lumpectomy, gold fiducial markers were strategically sutured to the surrounding walls of the cavity. Weekly fluoroscopy imaging was conducted at treatment to investigate the respiration-induced target motions. Daily pre- and post-RT kV imaging was performed, and images were matched to digitally reconstructed radiographs based on bony anatomy and fiducial markers, respectively, to determine the intrafractional motion magnitudes over the course of treatment. The positioning differences of the laser tattoo- and the bony anatomy-based setups compared with those of the marker-based setup (benchmark) were also determined. The study included 21 patients.

RESULTS

Although lung exhibited significant motion, the average marker motion amplitude on the fluoroscopic image was about 1 mm. Over a typical treatment time period, average intrafractional motion magnitude was 4.2 mm and 2.6 mm based on the marker and bony anatomy matching, respectively. The bony anatomy- and laser tattoo-based interfractional setup errors, with respect to the fiducial marker-based setup, were 7.1 and 9.0 mm, respectively.

CONCLUSIONS

Respiration has limited effects on the target motion during APBI. Bony anatomy-based treatment setup improves the accuracy relative to that of the laser tattoo-based setup approach. Since fiducial markers are sutured directly to the surgical cavity, the marker-based approach can further improve the interfractional setup accuracy. On average, a seroma cavity exhibits intrafractional motion of more than 4 mm, a magnitude that is larger than that which is otherwise derived based on bony anatomy matching. A seroma-specific marker-based approach has the potential to improve treatment accuracy by taking the true inter- and intrafractional motions into consideration.

Fast, accurate, and robust automatic marker detection for motion correction based on oblique kV or MV projection image pairs

PURPOSE

A robust and accurate method that allows the automatic detection of fiducial markers in MV and kV projection image pairs is proposed. The method allows to automatically correct for inter or intrafraction motion.

METHODS

Intratreatment MV projection images are acquired during each of five treatment beams of prostate cancer patients with four implanted fiducial markers. The projection images are first preprocessed using a series of marker enhancing filters. 2D candidate marker locations are generated for each of the filtered projection images and 3D candidate marker locations are reconstructed by pairing candidates in subsequent projection images. The correct marker positions are retrieved in 3D by the minimization of a cost function that combines 2D image intensity and 3D geometric or shape information for the entire marker configuration simultaneously. This optimization problem is solved using dynamic programming such that the globally optimal configuration for all markers is always found. Translational interfraction and intrafraction prostate motion and the required patient repositioning is assessed from the position of the centroid of the detected markers in different MV image pairs. The method was validated on a phantom using CT as ground-truth and on clinical data sets of 16 patients using manual marker annotations as ground-truth.

RESULTS

The entire setup was confirmed to be accurate to around 1 mm by the phantom measurements. The reproducibility of the manual marker selection was less than 3.5 pixels in the MV images. In patient images, markers were correctly identified in at least 99% of the cases for anterior projection images and 96% of the cases for oblique projection images. The average marker detection accuracy was 1.4 +/- 1.8 pixels in the projection images. The centroid of all four reconstructed marker positions in 3D was positioned within 2 mm of the ground-truth position in 99.73% of all cases. Detecting four markers in a pair of MV images takes a little less than a second where most time is spent on the image preprocessing.

CONCLUSIONS

The authors have developed a method to automatically detect multiple markers in a pair of projection images that is robust, accurate, and sufficiently fast for clinical use. It can be used for kV, MV, or mixed image pairs and can cope with limited motion between the projection images.

Implications of artefacts reduction in the planning CT originating from implanted fiducial markers

The efficacy of metal artefact reduction (MAR) software to suppress artefacts in reconstructed computed tomography (CT) images originating from small metal objects, like tumor markers and surgical clips, was evaluated. In addition, possible implications of using digital reconstructed radiographs (DRRs), based on the MAR CT images, for setup verification were analyzed. A phantom and 15 patients with different tumor sites and implanted markers were imaged with a multislice CT scanner. The raw image data was reconstructed both with the clinically used filtered-backprojection (FBP) and with the MAR software. Using the MAR software, improvements in image quality were often observed in CT slices with markers or clips. Especially when several markers were located near to each other, fewer streak artefacts were observed than with the FBP algorithm. In addition, the shape and size of markers could be identified more accurately, reducing the contoured marker volumes by a factor of 2. For the phantom study, the CT numbers measured near to the markers corresponded more closely to the expected values. However, the MAR images were slightly more smoothed compared with the images reconstructed with FBP. For 8 prostate cancer patients in this study, the interobserver variation in 3D marker definition was similar (<0.4 mm) when using DRRs based on either FBP or MAR CT scans. Automatic marker matches also showed a similar success rate. However, differences in automatic match results up to 1 mm, caused by differences in the marker definition, were observed, which turned out to be (borderline) statistically significant (p = 0.06) for 2 patients. In conclusion, the MAR software might improve image quality by suppressing metal artefacts, probably allowing for a more reliable delineation of structures. When implanted markers or clips are used for setup verification, the accuracy may slightly be improved as well, which is relevant when using very tight clinical target volume (CTV) to planning target volume (PTV) margins for planning.

Automatic marker detection and 3D position reconstruction using cine EPID images for SBRT verification

In previous studies, an electronic portal imaging device (EPID) in cine mode was used for validating respiratory gating and stereotactic body radiation therapy (SBRT) by tracking implanted fiducials. The manual marker tracking methods that were used were time and labor intensive, limiting the utility of the validation. The authors have developed an automatic algorithm to quickly and accurately extract the markers in EPID images and reconstruct their 3D positions. Studies have been performed with gold fiducials placed in solid water and dynamic thorax phantoms. In addition, the authors have examined the cases of five patients being treated under an SBRT protocol for hepatic metastases. For each case, a sequence of images was created by collecting the exit radiation using the EPID. The markers were detected and recognized using an image processing algorithm based on the Laplacian of Gaussian function. To reduce false marker detection, a marker registration technique was applied using image intensity as well as the geometric spatial transformations between the reference marker positions produced from the projection of 3D CT images and the estimated marker positions. An average marker position in 3D was reconstructed by backprojecting, towards the source, the position of each marker on the 2D image plane. From the static phantom study, spatial accuracies of <1 mm were achieved in both 2D and 3D marker locations. From the dynamic phantom study, using only the Laplacian of the Gaussian algorithm, the marker detection success rate was 88.8%. However, adding a marker registration technique which utilizes prior CT information, the detection success rate was increased to 100%. From the SBRT patient study, intrafractional tumor motion (3.1-11.3 mm) in the SI direction was measured using the 2D images. The interfractional patient setup errors (0.1-12.7 mm) in the SI, AP, and LR directions were obtained from the average marker locations reconstructed in 3D and compared to the reference planning CT image. The authors have developed an automatic algorithm to extract marker locations from MV images and have evaluated its performance. The measured intrafractional tumor motion and the interfractional daily patient setup error can be used for off-line retrospective verification of SBRT.

Influence of daily setup measurements and corrections on the estimated delivered dose during IMRT treatment of prostate cancer patients

PURPOSE

To evaluate the impact of marker-based position verification, using daily imaging and an off-line correction protocol, by calculating the delivered dose to prostate, rectum and bladder.

METHODS

Prostate cancer patients (n=217) were treated with IMRT, receiving 35 daily fractions. Plans with five beams were optimized taking target coverage (CTV, boost) and organs-at-risk (rectum and bladder) into account. PTV margins were 8mm. Prostate position was verified daily using implanted fiducial gold markers by imaging the first segment of all the five beams on an EPID. Setup deviations were corrected off-line using an adapted shrinking-action-level protocol. The estimated delivered dose, including daily organ movements, was calculated using a version of PLATO's dose engine, enabling batch processing of large numbers of patients. The dose was calculated +/- inclusion of setup corrections, and was evaluated relative to the original static plan. The marker-based measurements were considered representative for all organs.

RESULTS

Daily organ movements would result in an underdosage of 2-3Gy to CTV and boost volume relative to the original plan, which was prevented by daily setup corrections. The dose to rectum and bladder was on average unchanged, but a large spread was introduced by organ movements, which was reduced by including setup corrections.

CONCLUSIONS

Without position verification and setup corrections, margins of 8mm would be insufficient to account for position uncertainties during IMRT of prostate cancer. With the daily off-line correction protocol, the remaining variations are accommodated adequately.

A fiducial detection algorithm for real-time image guided IMRT based on simultaneous MV and kV imaging

The advantage of highly conformal dose techniques such as 3DCRT and IMRT is limited by intrafraction organ motion. A new approach to gain near real-time 3D positions of internally implanted fiducial markers is to analyze simultaneous onboard kV beam and treatment MV beam images (from fluoroscopic or electronic portal image devices). Before we can use this real-time image guidance for clinical 3DCRT and IMRT treatments, four outstanding issues need to be addressed. (1) How will fiducial motion blur the image and hinder tracking fiducials? kV and MV images are acquired while the tumor is moving at various speeds. We find that a fiducial can be successfully detected at a maximum linear speed of 1.6 cm/s. (2) How does MV beam scattering affect kV imaging? We investigate this by varying MV field size and kV source to imager distance, and find that common treatment MV beams do not hinder fiducial detection in simultaneous kV images. (3) How can one detect fiducials on images from 3DCRT and IMRT treatment beams when the MV fields are modified by a multileaf collimator (MLC)? The presented analysis is capable of segmenting a MV field from the blocking MLC and detecting visible fiducials. This enables the calculation of nearly real-time 3D positions of markers during a real treatment. (4) Is the analysis fast enough to track fiducials in nearly real time? Multiple methods are adopted to predict marker positions and reduce search regions. The average detection time per frame for three markers in a 1024 x 768 image was reduced to 0.1 s or less. Solving these four issues paves the way to tracking moving fiducial markers throughout a 3DCRT or IMRT treatment. Altogether, these four studies demonstrate that our algorithm can track fiducials in real time, on degraded kV images (MV scatter), in rapidly moving tumors (fiducial blurring), and even provide useful information in the case when some fiducials are blocked from view by the MLC. This technique can provide a gating signal or be used for intra-fractional tumor tracking on a Linac equipped with a kV imaging system. Any motion exceeding a preset threshold can warn the therapist to suspend a treatment session and reposition the patient.

Reduction of respiratory liver tumor motion by abdominal compression in stereotactic body frame, analyzed by tracking fiducial markers implanted in liver

PURPOSE

To investigate in a three-dimensional framework the effectiveness and reproducibility of reducing the respiratory motion of liver tumors using abdominal compression in a stereotactic body frame.

METHODS AND MATERIALS

A total of 12 patients with liver tumors, who were treated with stereotactic body radiotherapy, were included in this study. These patients had three gold fiducial markers implanted in the healthy liver tissue surrounding the tumor. Fluoroscopic videos were acquired on the planning day and before each treatment fraction to visualize the motion of the fiducial markers during free breathing and varying levels of abdominal compression. Software was developed to track the fiducial markers and measure their excursions.

RESULTS

Abdominal compression reduced the patient group median excursion by 62% in the craniocaudal and 38% in the anteroposterior direction with respect to the median free-breathing excursions. In the left-right direction, the median excursion increased 15% (maximal increase 1.6 mm). The median residual excursion was 4.1 mm in the craniocaudal, 2.4 mm in the anteroposterior, and 1.8 mm in the left-right direction. The mean excursions were reduced by compression to <5 mm in all patients and all directions, with two exceptions (craniocaudal excursion reduction of 20.5 mm to 7.4 mm and of 21.1 mm to 5.9 mm). The residual excursions reproduced well during the treatment course, and the craniocaudal excursions measured on the treatment days were never significantly (alpha = 0.05) greater than on the planning days. Fine tuning the compression did not considerably change the excursion on the treatment days.

CONCLUSIONS

Abdominal compression effectively reduced liver tumor motion, yielding small and reproducible excursions in three dimensions. The compression level established at planning could have been safely used on the treatment days.

Prostate intrafraction motion evaluation using kV fluoroscopy during treatment delivery: a feasibility and accuracy study

Margin reduction for prostate radiotherapy is limited by uncertainty in prostate localization during treatment. We investigated the feasibility and accuracy of measuring prostate intrafraction motion using kV fluoroscopy performed simultaneously with radiotherapy. Three gold coils used for target localization were implanted into the patient's prostate gland before undergoing hypofractionated online image-guided step-and-shoot intensity modulated radiation therapy (IMRT) on an Elekta Synergy linear accelerator. At each fraction, the patient was aligned using a cone-beam computed tomography (CBCT), after which the IMRT treatment delivery and fluoroscopy were performed simultaneously. In addition, a post-treatment CBCT was acquired with the patient still on the table. To measure the intrafraction motion, we developed an algorithm to register the fluoroscopy images to a reference image derived from the post-treatment CBCT, and we estimated coil motion in three-dimensional (3D) space by combining information from registrations at different gantry angles. We also detected the MV beam turning on and off using MV scatter incident in the same fluoroscopy images, and used this information to synchronize our intrafraction evaluation with the treatment delivery. In addition, we assessed the following: the method to synchronize with treatment delivery, the dose from kV imaging, the accuracy of the localization, and the error propagated into the 3D localization from motion between fluoroscopy acquisitions. With 0.16 mAs/frame and a bowtie filter implemented, the coils could be localized with the gantry at both 0 degrees and 270 degrees with the MV beam off, and at 270 degrees with the MV beam on when multiple fluoroscopy frames were averaged. The localization in two-dimensions for phantom and patient measurements was performed with submillimeter accuracy. After backprojection into 3D the patient localization error was (-0.04 +/- 0.30) mm, (0.09 +/- 0.36)mm, and (0.03 +/- 0.68)mm in the right-left (RL), anterior-posterior (AP), and superior-inferior (SI) axes, respectively. Simulations showed that while oscillating (stationary) motion cannot be effectively represented in 3D, linearly drifting (nonstationary) motion is detectable with good accuracy. These results show that measuring prostate intrafraction motion using a single kV imager during radiotherapy is feasible and can be performed with acceptable accuracy.

Synchronized tumour tracking with electromagnetic transponders and kV x-ray imaging: evaluation based on a thorax phantom

Intrafractional organ motion remains a source of error in conformal radiotherapy of dynamic targets such as tumours of the lung or of the prostate. The purpose of this work was to devise a method for the continuous and routine measurement of intrafractional organ motion. The method consists of a combination of an electromagnetic (EM), internal marker-based tracking system with the on-board kilovoltage x-ray imaging system of a modern treatment machine. The EM system continuously tracks the target, while x-ray images can be acquired simultaneously if demand arises. An image processing algorithm has been developed to automatically localize and track the EM markers in the x-ray images. We have demonstrated simultaneous target tracking using the EM system and x-ray imaging of a mobile target inside a programmable thorax phantom. The target motion was very well reproduced by both systems. The comparability of the target locations reported by both systems was established (better than 0.25 mm up to target velocities of 3 cm s(-1)). One immediate use of the synchronized system was shown: the generation of a 4D cone beam computed tomography data set using the EM system for the measurement of motion. In conclusion, we have developed a system for the routine measurement of intrafractional motion that continuously provides the 3D position of the target with the ability to acquire images of the treatment field only when needed, thereby eliminating avoidable imaging dose to the patient.

Fast internal marker tracking algorithm for onboard MV and kV imaging systems

Intrafraction organ motion can limit the advantage of highly conformal dose techniques such as intensity modulated radiation therapy (IMRT) due to target position uncertainty. To ensure high accuracy in beam targeting, real-time knowledge of the target location is highly desired throughout the beam delivery process. This knowledge can be gained through imaging of internally implanted radio-opaque markers with fluoroscopic or electronic portal imaging devices (EPID). In the case of MV based images, marker detection can be problematic due to the significantly lower contrast between different materials in comparison to their kV-based counterparts. This work presents a fully automated algorithm capable of detecting implanted metallic markers in both kV and MV images with high consistency. Using prior CT information, the algorithm predefines the volumetric search space without manual region-of-interest (ROI) selection by the user. Depending on the template selected, both spherical and cylindrical markers can be detected. Multiple markers can be simultaneously tracked without indexing confusion. Phantom studies show detection success rates of 100% for both kV and MV image data. In addition, application of the algorithm to real patient image data results in successful detection of all implanted markers for MV images. Near real-time operational speeds of approximately 10 frames/sec for the detection of five markers in a 1024 x 768 image are accomplished using an ordinary PC workstation.

Feasibility of fully automated detection of fiducial markers implanted into the prostate using electronic portal imaging: a comparison of methods

PURPOSE

To investigate the feasibility of fully automated detection of fiducial markers implanted into the prostate using portal images acquired with an electronic portal imaging device.

METHODS AND MATERIALS

We have made a direct comparison of 4 different methods (2 template matching-based methods, a method incorporating attenuation and constellation analyses and a cross correlation method) that have been published in the literature for the automatic detection of fiducial markers. The cross-correlation technique requires a-priory information from the portal images, therefore the technique is not fully automated for the first treatment fraction. Images of 7 patients implanted with gold fiducial markers (8 mm in length and 1 mm in diameter) were acquired before treatment (set-up images) and during treatment (movie images) using 1MU and 15MU per image respectively. Images included: 75 anterior (AP) and 69 lateral (LAT) set-up images and 51 AP and 83 LAT movie images. Using the different methods described in the literature, marker positions were automatically identified.

RESULTS

The method based upon cross correlation techniques gave the highest percentage detection success rate of 99% (AP) and 83% (LAT) set-up (1MU) images. The methods gave detection success rates of less than 91% (AP) and 42% (LAT) set-up images. The amount of a-priory information used and how it affects the way the techniques are implemented, is discussed.

CONCLUSIONS

Fully automated marker detection in set-up images for the first treatment fraction is unachievable using these methods and that using cross-correlation is the best technique for automatic detection on subsequent radiotherapy treatment fractions.

Analysis of fiducial markers used for on-line verification in the external-beam radiotherapy of patients with cranial tumours

PURPOSE

Evaluate the fiducial marker-based position verification in the external-beam radiotherapy of patients with cranial tumour.

METHODS

Thirteen patients with intracranial tumours were treated with external- beam radiotherapy using 3 gold markers implanted in the skull. Before each fraction the patient was positioned on the treatment table and 2 orthogonal portal images were performed to localise the 3 gold seeds and the target position was calculated using a commercialised computer program (ISOLOC software, MEDTEC). This program provides the couch movements required to move the target to the isocentre.

RESULTS

When the set-up error was corrected using the coordinates of the 3 markers, the final movements were less than 2 mm in all cases: lateral, mean v., 1.21 mm; longitudinal, 1.23 mm; and anteroposterior, 1.18 mm. No serious complications related to the gold marker insertion were noted.

CONCLUSION

The use of 3 implanted fiducial seeds is an optimal technique for precise set-up in patients with brain tumours treated with external radiotherapy. This commercial system is highly suitable for fractionated stereotactic irradiation.

Positional Stability of Electromagnetic Transponders Used for Prostate Localization and Continuous, Real-Time Tracking

PURPOSE

To determine the relative positional stability of implanted glass-encapsulated circuits (transponders) used in continuous electromagnetic localization and tracking of target volumes during radiation therapy. Ideally, the distances between transponders remains constant over the course of treatment. In this work, we evaluate the accuracy of these conditions.

METHODS AND MATERIALS

Three transponders were implanted in each of 20 patients. Images (CT scan or X-ray pair) were acquired at 13 time points. These images occurred from the day of implant (2 weeks before simulation) to 4 weeks posttreatment. The distance between transponders was determined from each dataset. The average and standard deviation of each distance were determined, and changes were evaluated over several time periods, including pretreatment and during therapy.

RESULTS

Of 60 transponders implanted, 58 showed no significant migration from their intended positions. Of the two transponders that did migrate, one appears to have been implanted in the venous plexus, and the other in the urethra, with no clinical consequences to the patients. An analysis that included the planning CT scan and all subsequent distance measurements showed that the standard deviation of intertransponder distances was < or =1.2 mm for up to 1 month after the completion of therapy.

CONCLUSIONS

Implanted transponders demonstrate the same long-term stability characteristics as implanted gold markers, within statistical uncertainties. As with gold markers, and using the same implant procedure, basic guidelines for the placement of transponders within the prostate help ensure minimal migration.

Intrafraction motion of the prostate during external-beam radiation therapy: analysis of 427 patients with implanted fiducial markers

PURPOSE

To analyze the intrafraction motion of the prostate during external-beam radiation therapy of patients with prostate cancer.

METHODS AND MATERIALS

Between August 2001-December 2005, 427 patients with Stage T3Nx/0Mx/0 prostate carcinoma received intensity-modulated radiation therapy treatment combined with position verification with fiducial gold markers. For a total of 11,426 treatment fractions (average, 27 per patient), portal images were taken of the first segment of all five beams. The irradiation time of the technique varied between 5-7 min. From these data, the location of gold markers could be established within every treatment beam under the assumption of minimal marker movement.

RESULTS

In 66% of treatment fractions, a motion outside a range of 2 mm was observed, with 28% outside a range of 3 mm. The intrafraction marker movements showed that motion directions were often reversed. However, the effect was small. Even with perfect online position-correction at the start of irradiation, intrafraction motion caused position uncertainty, but systematic errors (Sigma) were limited to <0.6 mm, and random errors (sigma) to <0.9 mm. This would result in a lower limit of 2 mm for margins, in the absence of any other uncertainties.

CONCLUSIONS

Intrafraction motion of the prostate occurs frequently during external-beam irradiation on a time scale of 5-7 min. Margins of 2 mm account for these intrafraction motions. However, larger margins are required in practice to accommodate other uncertainties in the treatment.

Multi-institutional clinical experience with the Calypso System in localization and continuous, real-time monitoring of the prostate gland during external radiotherapy

PURPOSE

To report the clinical experience with an electromagnetic treatment target positioning and continuous monitoring system in patients with localized prostate cancer receiving external beam radiotherapy.

METHODS AND MATERIALS

The Calypso System is a target positioning device that continuously monitors the location of three implanted electromagnetic transponders at a rate of 10 Hz. The system was used at five centers to position 41 patients over a full course of therapy. Electromagnetic positioning was compared to setup using skin marks and to stereoscopic X-ray localization of the transponders. Continuous monitoring was performed in 35 patients.

RESULTS

The difference between skin mark vs. the Calypso System alignment was found to be >5 mm in vector length in more than 75% of fractions. Comparisons between the Calypso System and X-ray localization showed good agreement. Qualitatively, the continuous motion was unpredictable and varied from persistent drift to transient rapid movements. Displacements > or =3 and > or =5 mm for cumulative durations of at least 30 s were observed during 41% and 15% of sessions. In individual patients, the number of fractions with displacements > or =3 mm ranged from 3% to 87%; whereas the number of fractions with displacements > or =5 mm ranged from 0% to 56%.

CONCLUSION

The Calypso System is a clinically efficient and objective localization method for positioning prostate patients undergoing radiotherapy. Initial treatment setup can be performed rapidly, accurately, and objectively before radiation delivery. The extent and frequency of prostate motion during radiotherapy delivery can be easily monitored and used for motion management.

Daily electronic portal imaging of implanted gold seed fiducials in patients undergoing radiotherapy after radical prostatectomy

PURPOSE

The aim of this study was to measure interfraction prostate bed motion, setup error, and total positioning error in 10 consecutive patients undergoing postprostatectomy radiotherapy.

METHODS AND MATERIALS

Daily image-guided target localization and alignment using electronic portal imaging of gold seed fiducials implanted into the prostate bed under transrectal ultrasound guidance was used in 10 patients undergoing adjuvant or salvage radiotherapy after prostatectomy. Prostate bed motion, setup error, and total positioning error were measured by analysis of gold seed fiducial location on the daily electronic portal images compared with the digitally reconstructed radiographs from the treatment-planning CT.

RESULTS

Mean (+/- standard deviation) prostate bed motion was 0.3 +/- 0.9 mm, 0.4 +/- 2.4 mm, and -1.1 +/- 2.1 mm in the left-right (LR), superior-inferior (SI), and anterior-posterior (AP) axes, respectively. Mean set-up error was 0.1 +/- 4.5 mm, 1.1 +/- 3.9 mm, and -0.2 +/- 5.1 mm in the LR, SI, and AP axes, respectively. Mean total positioning error was 0.2 +/- 4.5 mm, 1.2 +/- 5.1 mm, and -0.3 +/- 4.5 mm in the LR, SI, and AP axes, respectively. Total positioning errors >5 mm occurred in 14.1%, 38.7%, and 28.2% of all fractions in the LR, SI, and AP axes, respectively. There was no significant migration of the gold marker seeds.

CONCLUSIONS

This study validates the use of daily image-guided target localization and alignment using electronic portal imaging of implanted gold seed fiducials as a valuable method to correct for interfraction target motion and to improve precision in the delivery of postprostatectomy radiotherapy.

Analysis of fiducial marker-based position verification in the external beam radiotherapy of patients with prostate cancer

PURPOSE

Evaluate the fiducial marker-based position verification in the external-beam radiotherapy of patients with prostate cancer.

METHODS

Four hundred and fifty-three patients with prostate cancer received an IMRT treatment combined with fiducial marker-based position verification. Portal images were taken in all 35 treatment fractions. This database was used to study the accuracy of detecting the prostate position as well as the presence of time trends and the effectiveness of commonly used off-line correction protocols.

RESULTS

The variation in inter-marker distance shows that the prostate position can be detected with an accuracy better than 0.6 mm. Significant time trends in prostate position occurred in 35%, 18% and 48% of the patients in the vertical, lateral and longitudinal directions, respectively, with 34%, 9% and 35% deviating more than 3 mm over the course of the treatment. Off-line correction protocols that estimate a deviation only in the first fractions of the treatment (shrinking action level (SAL), no action level (NAL)) are not effective in following these trends. With daily off-line position correction using an adapted SAL protocol we reduced systematic positioning errors in clinical practice to less than 0.8 mm in all directions.

CONCLUSION

Fiducial markers are a reliable tool for prostate position verification. Time trends occur frequently. Correction procedures must take such trends into account.

Automated detection of a prostate Ni-Ti stent in electronic portal images

Planning target volumes (PTV) in fractionated radiotherapy still have to be outlined with wide margins to the clinical target volume due to uncertainties arising from daily shift of the prostate position. A recently proposed new method of visualization of the prostate is based on insertion of a thermo-expandable Ni-Ti stent. The current study proposes a new detection algorithm for automated detection of the Ni-Ti stent in electronic portal images. The algorithm is based on the Ni-Ti stent having a cylindrical shape with a fixed diameter, which was used as the basis for an automated detection algorithm. The automated method uses enhancement of lines combined with a grayscale morphology operation that looks for enhanced pixels separated with a distance similar to the diameter of the stent. The images in this study are all from prostate cancer patients treated with radiotherapy in a previous study. Images of a stent inserted in a humanoid phantom demonstrated a localization accuracy of 0.4-0.7 mm which equals the pixel size in the image. The automated detection of the stent was compared to manual detection in 71 pairs of orthogonal images taken in nine patients. The algorithm was successful in 67 of 71 pairs of images. The method is fast, has a high success rate, good accuracy, and has a potential for unsupervised localization of the prostate before radiotherapy, which would enable automated repositioning before treatment and allow for the use of very tight PTV margins.

[High precision radiotherapy with ultrasonic imaging guidance]

Conformal radiation therapy with or without intensity modulation is the standard treatment of localized prostate cancer and facilitates dose escalation. The implementation of three-dimensional conformal radiotherapy necessitates focusing on target volume delineation, dosimetry, reproducibility of treatment and quality control. Recently, ultrasound systems that allow direct daily visualization of the prostate have become available. This non-invasive technique can be used to correct both prostate organ motion and set-up error and leads to increase treatment accuracy.

Clinical application of a repositioning scheme, using gold markers and electronic portal imaging

BACKGROUND AND PURPOSE

To implement an on-line correction scheme based on implanted markers to reduce treatment margins in external beam radiation therapy (EBRT) of carcinoma of the prostate. In turn reduction in treatment margins reduces irradiated volumes and offers the possibility of reduced normal tissue complications or escalated target dose.

PATIENTS AND METHODS

Five or six gold markers were implanted in 10 patients treated for prostate carcinoma using EBRT. All patients were enlisted in an IRB-approved protocol. Before each fraction two portal images were obtained using a low dose (2MU). Positions of the markers were calculated from these images using an in-house developed program. Corrections were applied with a threshold of 2mm displacement. After correction the procedure was repeated.

RESULTS

Overall systematic errors were reduced from 7.45, 1.29, and 5.12 mm to 0.65, 0.11, and 0.46 mm in, respectively, the antero-posterior, lateral, and cranio-caudal directions. Likewise, the overall SD were reduced from 5.99, 5.34, and 4.44 mm to 2.82, 2.64, and 2.22 mm, respectively. All reductions were highly significant (P < 0.01) using a t-test for systematic and an F-test for random errors. On an individual level all but three patients showed significant improvements in all directions for the random errors. All patients improved in at least one direction. Systematic errors were significantly lower in all patients. Simulated correction schemes using this data suggest that margin reduction using off-line reduction does not benefit substantially from on-line corrections in the first few fractions.

CONCLUSIONS

Use of marker-based correction improves the patient position. Factors influencing the accuracy were: (1) number of seeds usable for correction, (2) distribution of markers throughout the volume of interest, and (3) objective instructions for patient realignment.

Automatic prostate localization on cone-beam CT scans for high precision image-guided radiotherapy

PURPOSE

Previously, we developed an automatic three-dimensional gray-value registration (GR) method for fast prostate localization that could be used during online or offline image-guided radiotherapy. The method was tested on conventional computed tomography (CT) scans. In this study, the performance of the algorithm to localize the prostate on cone-beam CT (CBCT) scans acquired on the treatment machine was evaluated.

METHODS AND MATERIALS

Five to 17 CBCT scans of 32 prostate cancer patients (332 scans in total) were used. For 18 patients (190 CBCT scans), the CBCT scans were acquired with a collimated field of view (FOV) (craniocaudal). This procedure improved the image quality considerably. The prostate (i.e., prostate plus seminal vesicles) in each CBCT scan was registered to the prostate in the planning CT scan by automatic 3D gray-value registration (normal GR) starting from a registration on the bony anatomy. When these failed, registrations were repeated with a fixed rotation point locked at the prostate apex (fixed apex GR). Registrations were visually assessed in 3D by one observer with the help of an expansion (by 3.6 mm) of the delineated prostate contours of the planning CT scan. The percentage of successfully registered cases was determined from the combined normal and fixed apex GR assessment results. The error in gray-value registration for both registration methods was determined from the position of one clearly defined calcification in the prostate gland (9 patients, 71 successful registrations).

RESULTS

The percentage of successfully registered CBCT scans that were acquired with a collimated FOV was about 10% higher than for CBCT scans that were acquired with an uncollimated FOV. For CBCT scans that were acquired with a collimated FOV, the percentage of successfully registered cases improved from 65%, when only normal GR was applied, to 83% when the results of normal and fixed apex GR were combined. Gray-value registration mainly failed (or registrations were difficult to assess) because of streaks in the CBCT scans caused by moving gas pockets in the rectum during CBCT image acquisition (i.e., intrafraction motion). The error in gray-value registration along the left-right, craniocaudal, and anteroposterior axes was 1.0, 2.4, and 2.3 mm (1 SD) for normal GR, and 1.0, 2.0, and 1.7 mm (1 SD) for fixed apex GR. The systematic and random components of these SDs contributed approximately equally to these SDs, for both registration methods.

CONCLUSIONS

The feasibility of automatic prostate localization on CBCT scans acquired on the treatment machine using an adaptation of the previously developed three-dimensional gray-value registration algorithm, has been validated in this study. Collimating the FOV during CBCT image acquisition improved the CBCT image quality considerably. Artifacts in the CBCT images caused by large moving gas pockets during CBCT image acquisition were the main cause for unsuccessful registration. From this study, we can conclude that CBCT scans are suitable for online and offline position verification of the prostate, as long as the amount of nonstationary gas is limited.

Intraprostatic fiducials for localization of the prostate gland: Monitoring intermarker distances during radiation therapy to test for marker stability

PURPOSE

The use of intraprostatic fiducials as surrogates for prostate gland position assumes that the markers are rigidly positioned within the prostate. To test this assumption, the intermarker distances (IMD) of implanted markers was monitored during the full course of radiation therapy to determine marker stability within the prostate gland.

METHODS AND MATERIALS

The analysis is performed on 56 patients treated with intensity-modulated radiotherapy. A total of 168 markers (3 markers per patient) were implanted. Two high-resolution X-rays were acquired before treatment delivery to visualize the position of the implanted markers. A total of 2,037 daily alignments were performed on the 56 cases (average: 36 alignments per patient). Each pair of X-ray images allows the computation of the 3 IMDs. A total of 6,111 IMDs were available for analysis. To study variations in marker position, daily IMDs were compared with the IMD that was observed during the first alignment. We defined the variation in the IMD as the important measure of intrinsic marker position variation. The standard deviation (SD) of IMD variations was studied as a measure of the extent of marker position variation. Particular attention was given to cases in which significant intermarker variations were observed.

RESULTS

The average directional variation of all IMDs (+/- SD) was -0.31 (+/-1.41) mm. The average absolute variation of all IMDs (+/- SD) was 1.01 (+/-1.03) mm. The largest observed variation in IMD was 10.2 mm. Among the individual 56 patients, the SDs of the IMD variations were computed and found to range from 0.4 to 4.2 mm. In 54 of the 56 patients (96%), the variations of all 3 IMDs had SD of 4.0 mm or less, which indicates little variation in the relative position of the markers. Only in 2 patients did any of the IMDs vary, with SD that exceeded 4.0 mm, which indicated noticeable and consistent marker-position variation. The maximum observed SD in the IMD variation was 4.2 mm. In each of the 2 cases, 2 IMDs were found to fluctuate, while the third IMD remained fairly constant. This finding means that 1 of 3 markers varied frequently in its relative position throughout the treatment. Therefore, only 2 of the 168 markers (1%) showed frequent changes in their relative positions. A review of these 2 cases revealed that the observed marker mobility was likely not caused by migration of the marker itself but caused by prostate deformation, secondary to rectal filling. To investigate the frequency of extreme situations, the maximum observed IMD variation was determined for each patient. In 47 of the 56 patients (84%), the maximum difference in IMDs was at least 2 mm. The corresponding numbers for 3, 4, and 5 mm were 23 (41%), 10 (18%), and 5 (9%) patients, respectively.

CONCLUSION

This study is the largest reported series of localized prostate cancer patients with implanted intraprostatic markers used for daily target localization in which individual marker positions were registered and IMDs were computed to test for marker position variation. Only 2 of 168 implanted markers showed a relatively significant and consistent change in their relative position throughout a course of treatment. However, these variations in position were most likely not caused by marker migration but caused by prostate deformation. Typically, the IMDs varied minimally, which indicated relatively little deformation of the gland as well as the absence of significant marker migration. However, during a typical course of treatment, the IMD is likely to vary by several millimeters in some instances, which indicates infrequent but significant deformation. In these instances, an alignment based on the 3 markers' center of mass will still provide a meaningful alignment of the prostate within the radiation field. Intraprostatic implanted fiducials in the prostate allow a reliable and simple localization of the prostate gland, even in the presence of organ deformation.

Prostate Cancer: Precision of Integrating Functional MR Imaging with Radiation Therapy Treatment by Using Fiducial Gold Markers

The use of intensity-modulated radiation therapy for treatment of dominant intraprostatic lesions may require integration of functional magnetic resonance (MR) imaging with treatment-planning computed tomography (CT). The purpose of this study was to compare prospectively the landmark and iterative closest point methods for registration of CT and MR images of the prostate gland after placement of fiducial markers. The study was approved by the institutional ethics review board, and informed consent was obtained. CT and MR images were registered by using fiducial gold markers that were inserted into the prostate. Two image registration methods--a commonly available landmark method and dedicated iterative closest point method--were compared. Precision was assessed for a data set of 21 patients by using five operators. Precision of the iterative closest point method (1.1 mm) was significantly better (P < .01) than that of the landmark method (2.0 mm). Furthermore, a method is described by which multimodal MR imaging data are reduced into a single interpreted volume that, after registration, can be incorporated into treatment planning.

On the use of EPID-based implanted marker tracking for 4D radiotherapy

Four-dimensional (4D) radiotherapy delivery to dynamically moving tumors requires a real-time signal of the tumor position as a function of time so that the radiation beam can continuously track the tumor during the respiration cycle. The aim of this study was to develop and evaluate an electronic portal imaging device (EPID)-based marker-tracking system that can be used for real-time tumor targeting, or 4D radiotherapy. Three gold cylinders, 3 mm in length and 1 mm in diameter, were implanted in a dynamic lung phantom. The phantom range of motion was 4 cm with a 3-s "breathing" period. EPID image acquisition parameters were modified, allowing image acquisition in 0.1 s. Images of the stationary and moving phantom were acquired. Software was developed to segment automatically the marker positions from the EPID images. Images acquired in 0.1 s displayed higher noise and a lower signal-noise ratio than those obtained using regular (> 1 s) acquisition settings. However, the markers were still clearly visible on the 0.1-s images. The motion of the phantom blurred the images of the markers and further reduced the signal-noise ratio, though they could still be successfully segmented from the images in 10-30 ms of computation time. The positions of gold markers placed in the lung phantom were detected successfully, even for phantom velocities substantially higher than those observed for typical lung tumors. This study shows that using EPID-based marker tracking for 4D radiotherapy is feasible, however, changes in linear accelerator technology and EPID-based image acquisition as well as patient studies are required before this method can be implemented clinically.

Automatic localization of the prostate for on-line or off-line image-guided radiotherapy

PURPOSE

With higher radiation dose, higher cure rates have been reported in prostate cancer patients. The extra margin needed to account for prostate motion, however, limits the level of dose escalation, because of the presence of surrounding organs at risk. Knowledge of the precise position of the prostate would allow significant reduction of the treatment field. Better localization of the prostate at the time of treatment is therefore needed, e.g. using a cone-beam computed tomography (CT) system integrated with the linear accelerator. Localization of the prostate relies upon manual delineation of contours in successive axial CT slices or interactive alignment and is fairly time-consuming. A faster method is required for on-line or off-line image-guided radiotherapy, because of prostate motion, for patient throughput and efficiency. Therefore, we developed an automatic method to localize the prostate, based on 3D gray value registration.

METHODS AND MATERIALS

A study was performed on conventional repeat CT scans of 19 prostate cancer patients to develop the methodology to localize the prostate. For each patient, 8-13 repeat CT scans were made during the course of treatment. First, the planning CT scan and the repeat CT scan were registered onto the rigid bony structures. Then, the delineated prostate in the planning CT scan was enlarged by an optimum margin of 5 mm to define a region of interest in the planning CT scan that contained enough gray value information for registration. Subsequently, this region was automatically registered to a repeat CT scan using 3D gray value registration to localize the prostate. The performance of automatic prostate localization was compared to prostate localization using contours. Therefore, a reference set was generated by registering the delineated contours of the prostates in all scans of all patients. Gray value registrations that showed large differences with respect to contour registrations were detected with a chi(2) analysis and were removed from the data set before further analysis.

RESULTS

Comparing gray value registration to contour registration, we found a success rate of 91%. The accuracy for rotations around the left-right, cranial-caudal, and anterior-posterior axis was 2.4 degrees, 1.6 degrees, and 1.3 degrees (1 SD), respectively, and for translations along these axes 0.7, 1.3, and 1.2 mm (1 SD), respectively. A large part of the error is attributed to uncertainty in the reference contour set. Automatic prostate localization takes about 45 seconds on a 1.7 GHz Pentium IV personal computer.

CONCLUSIONS

This newly developed method localizes the prostate quickly, accurately, and with a good success rate, although visual inspection is still needed to detect outliers. With this approach, it will be possible to correct on-line or off-line for prostate movement. Combined with the conformity of intensity-modulated dose distributions, this method might permit dose escalation beyond that of current conformal approaches, because margins can be safely reduced.

Independent verification of ultrasound based image‐guided radiation treatment, using electronic portal imaging and implanted gold markers

The aim of this paper is to study the correction of prostate motion and position during external beam therapy. The correction was performed using a commercially available ultrasound-based repositioning tool. Electronic portal imaging with the use of fiducial markers was used to assess efficacy and accuracy. Patients undergoing radiation treatment for adenocarcinoma of the prostate were enrolled in a positioning study. Fifteen patients had five to six gold fiducial markers implanted in their prostate. These patients were positioned daily in a standard manner and then were repositioned every other day using an ultrasound-based correction system. Every fraction of a patients' treatment was imaged. This yielded 156 image pairs with and 119 pairs without repositioning available for analysis. This group of patients with markers had the following residual positions measured after the use of ultrasound repositioning. A mean error of -0.4 mm (LL), -2.6 mm (CC), and +2.5 mm (AP) with a standard deviation of 4.3, 5.4, and 5.7 mm. In two directions the improvements of treatment using the ultrasound correction were smaller than the precision of this experiment. They were no larger than 0.81 mm (LAT), and 0.95 mm (CC). In the AP direction a significant improvement was found of 1.6 mm. A highly significant correlation (p < 0.001) was found between the residual errors in the cranio-caudal direction and the shifts performed on the basis of the ultrasound measurements (Spearman ranking R = 0.53). We presented a method to objectively estimate improvements by a correction scheme. This method applied to ultrasound-based adjustment showed significant improvement in one direction and no measurable improvement in two other directions.