Intensity-modulated arc therapy simplified

Investigating the use of aperture shape controller in VMAT treatment deliveries

BACKGROUND

Aperture shape controller (ASC) is a recently introduced leaf sequencer that controls the complexity of multileaf collimator apertures in the Photon Optimizer algorithm of the Eclipse treatment planning system. The aim of this study is to determine if the ASC can reduce plan complexity and improve verification results, without compromising plan quality.

METHODS

Thirteen plans grouped into cohorts of head and neck/brain, breast/chest and pelvis were reoptimised using the same optimization as the non-ASC setting for low, moderate and high ASC settings. These plans were analyzed using plan quality indices such as the conformity index and homogeneity index in addition to dose-volume histogram based analysis on PTVs and organ at risks. Complexity assessments were performed using metrics such as average leaf pair opening, modulation complexity scores, relative monitor units (MU) and treatment time. Monitor unit per gantry angle variations were also analyzed. A third-party algorithm was also used to assess 3D dose distributions produced using the new leaf sequencer tool. Deliverability for the final multileaf collimator distribution was quantified using portal dose image prediction based gamma analysis.

RESULTS

Plan conformality assessments showed comparable results and no significant plan degradation for plans reoptimised using ASC. Reduction in overall MU distributions were seen in some cases using higher ASC however, no overall trends were observed. In general, treatment deliverability, assessed using gamma analysis did not improve drastically however MU per degree distribution in 1 case improved when reoptimised using ASC. Treatment MUs generally reduced when ASC settings were used whilst in 1 case an increase in the treatment time factor > 1.8 was observed. The third-party algorithm assessment showed an underestimation of dose calculations for all cohorts used in this study when a higher ASC setting is used.

CONCLUSIONS

The impact of using ASC in treatment plans was characterised in this study. Although plan complexity marginally improved when using higher ASC settings, no consensus could be reached based on metrics analyzed in this study. A reduction in MU distribution was observed with increasing ASC settings in most cases. This study recommends that ASC to be used as an additional tool only to test its suitability to reduce plan complexity.

Single-arc VMAT optimization for dual-layer MLC

Dual-layer multi-leaf collimator (DLMLC) has recently attracted renewed interest due to its good balance among resolution, low leakage, and high fabricability. However, existing progressive sampling based volumetric modulated arc therapy (VMAT) algorithm is ineffective for DLMLC, requiring more arcs to achieve dosimetry comparable to VMAT plans with higher resolution single-layer MLC (SLMLC). In this study, we develop a novel single-arc VMAT optimization framework to take advantage of the unique DLMLC characteristics fully. Direct aperture optimization (DAO) for single-arc DLMLC VMAT was formulated as a least square dose fidelity objective, along with an anisotropic total variation term to regulate the fluence smoothness and a single segment term for forming simple apertures. The DAO was solved through alternating optimization approach. The DLMLC deliverability constraint and the MLC leaf speed constraint were formulated as the optimization constraints and solved using a graph optimization algorithm. Feasibility of the proposed framework was tested on a brain, a lung, and a prostate cancer patient. The framework was further adapted for a simultaneous integrated boost (SIB) case. The single-arc DLMLC-10 mm (leaf width) plan was compared against single-arc SLMLC VMAT plans including SLMLC-5mm, SLMLC-10mm, and SLMLC with 10 mm leaf width and 5 mm leaf step size (SLMLC-10mm-5mm). Compared with the SLMLC-10mm plan and the SLMLC-10mm-5mm plan, with the same target coverage, the DLMLC-10 mm plan reduced R50 by 30.7% and 10.0%, the average max OAR dose by 5.79% and 3.7% of the prescription dose, and the average mean OAR dose by 4.18% and 2.1% of the prescription dose, respectively. The plan quality is comparable to that of the SLMLC-5mm plan. The novel single-arc VMAT optimization framework for DLMLC utilizes two MLC layers to improve the effective modulation resolution and afford more sophisticated modulation. Consequently, DLMLC VMAT achieves superior dosimetry to SLMLC VMAT with the same leaf width.

Optimization of rotational arc station parameter optimized radiation therapy

PURPOSE

To develop a fast optimization method for station parameter optimized radiation therapy (SPORT) and show that SPORT is capable of matching VMAT in both plan quality and delivery efficiency by using three clinical cases of different disease sites.

METHODS

The angular space from 0° to 360° was divided into 180 station points (SPs). A candidate aperture was assigned to each of the SPs based on the calculation results using a column generation algorithm. The weights of the apertures were then obtained by optimizing the objective function using a state-of-the-art GPU based proximal operator graph solver. To avoid being trapped in a local minimum in beamlet-based aperture selection using the gradient descent algorithm, a stochastic gradient descent was employed here. Apertures with zero or low weight were thrown out. To find out whether there was room to further improve the plan by adding more apertures or SPs, the authors repeated the above procedure with consideration of the existing dose distribution from the last iteration. At the end of the second iteration, the weights of all the apertures were reoptimized, including those of the first iteration. The above procedure was repeated until the plan could not be improved any further. The optimization technique was assessed by using three clinical cases (prostate, head and neck, and brain) with the results compared to that obtained using conventional VMAT in terms of dosimetric properties, treatment time, and total MU.

RESULTS

Marked dosimetric quality improvement was demonstrated in the SPORT plans for all three studied cases. For the prostate case, the volume of the 50% prescription dose was decreased by 22% for the rectum and 6% for the bladder. For the head and neck case, SPORT improved the mean dose for the left and right parotids by 15% each. The maximum dose was lowered from 72.7 to 71.7 Gy for the mandible, and from 30.7 to 27.3 Gy for the spinal cord. The mean dose for the pharynx and larynx was reduced by 8% and 6%, respectively. For the brain case, the doses to the eyes, chiasm, and inner ears were all improved. SPORT shortened the treatment time by ∼1 min for the prostate case, ∼0.5 min for brain case, and ∼0.2 min for the head and neck case.

CONCLUSIONS

The dosimetric quality and delivery efficiency presented here indicate that SPORT is an intriguing alternative treatment modality. With the widespread adoption of digital linac, SPORT should lead to improved patient care in the future.

Total-variation regularization based inverse planning for intensity modulated arc therapy

Intensity modulated arc therapy (IMAT) delivers conformal dose distributions through continuous gantry rotation with constant or variable speed while modulating the field aperture shape and weight. The enlarged angular space and machine delivery constraints make inverse planning of IMAT more intractable as compared to its counterpart of fixed gantry IMRT. Currently, IMAT inverse planning is being done using two extreme methods: the first one computes in beamlet domain with a subsequent arc leaf sequencing, and the second proceeds in machine parameter domain with entire emphasis placed on a pre-determined delivery method without exploring potentially better alternative delivery schemes. Towards truly optimizing the IMAT treatment on a patient specific basis, in this work we propose a total-variation based inverse planning framework for IMAT, which takes advantage of the useful features of the above two existing approaches while avoiding their shortcomings. A quadratic optimization algorithm has been implemented to demonstrate the performance and advantage of the proposed approach. Applications of the technique to a prostate case and a head and neck case indicate that the algorithm is capable of generating IMAT plans with patient specific numbers of arcs efficiently. Superior dose distributions and delivery time are achieved with a maximum number of apertures of three for each field. As compared to conventional beamlet-based algorithms, our method regularizes the field modulation complexity during optimization, and permits us to obtain the best possible plan with a pre-set modulation complexity of fluences. As illustrated in both prostate and head-and-neck case studies, the proposed method produces more favorable dose distributions than the segment-based algorithms, by optimally accommodating the clinical need of intensity modulation levels for each individual field. On a more fundamental level, our formulation preserves the convexity of optimization and makes the search of the global optimal solution possible with a deterministic method.

A treatment planning study comparing Elekta VMAT and fixed field IMRT using the varian treatment planning system eclipse

Background

The newest release of the Eclipse (Varian) treatment planning system (TPS) includes an optimizing engine for Elekta volumetric-modulated arc therapy (VMAT) planning. The purpose of this study was to evaluate this new algorithm and to compare it to intensity-modulated radiation therapy (IMRT) for various disease sites by creating single- and double-arc VMAT plans.

Methods

A total of 162 plans were evaluated in this study, including 38 endometrial, 57 head and neck, 12 brain, 10 breast and 45 prostate cancer cases. The real-life IMRT plans were developed during routine clinical cases using the TPS Eclipse. VMAT plans were generated using a preclinical version of Eclipse with tumor-region-specific optimizing templates without interference of the operator: with one full arc (1A) and with two full arcs (2A), and with partial arcs for breast and prostate with hip implant cases. All plans were evaluated based on target coverage, homogeneity and conformity. The organs at risk (OARs) were analyzed according to plan objectives, such as the mean and maximum doses. If one or more objectives were exceeded, the plan was considered clinically unacceptable, and a second VMAT plan was created by adapting the optimization penalties once.

Results

Compared to IMRT, single- and double-arc VMAT plans showed comparable or better results concerning the target coverage: the maximum dose in the target for 1A is the same as that for IMRT; for 2A, an average reduction of 1.3% over all plans was observed. The conformity showed a statistically significant improvement for both 1A (+3%) and 2A (+6%). The mean total body dose was statistically significant lower for the considered arc techniques (IMRT: 16.0 Gy, VMAT: 15.3 Gy, p < 0.001). However, the sparing of OARs shows individual behavior that depends strongly on the different tumor regions. A clear difference is found in the number of monitor units (MUs) per plan: VMAT shows a reduction of 31%.

Conclusion

These findings demonstrate that based on optimizing templates with minimal interaction of the operator, the Eclipse TPS is able to achieve a plan quality for the Elekta VMAT delivery technique that is comparable to that of fixed-field IMRT. Plans with two arcs show better dose distributions than plans with one arc.

A pooled analysis of arc-based image-guided simultaneous integrated boost radiation therapy for oligometastatic brain metastases

PURPOSE

To report pooled overall survival and time to radiological intracranial progression results related to arc-based image-guided radiotherapy for dose-escalation of oligometastatic disease of the brain.

METHODS AND MATERIALS

Anonymized patient, tumor, and treatment data were pooled from the VU University medical center (VUmc) and the London Regional Cancer Program (LRCP) for patients treated with whole brain radiotherapy (20 Gy/5 VUmc, 30 Gy/10 LRCP) with simultaneous integrated boost (SIB) to individual intracranial lesions (40 Gy/5 VUmc, 35-60 Gy/10 LRCP) to perform survival/intracranial control outcome analyses.

RESULTS

A total of 120 patients were treated by both the LRCP (n=70) and VUmc (n=50) between 2005 and 2010. Median lesional dose BED3,10 for the entire cohort of patients were 147 and 72 Gy, respectively. Median follow-up for the entire cohort of patients was 4.7 months with median follow-up of 5.2 months for living patients. On multivariable analysis, primary lung cancer (HR 2.044), presence of systemic metastatic disease (HR 1.937), and lower baseline WHO performance status (HR 1.742) were significant (p<0.05) predictors of shorter overall survival. Cumulative brain metastases volume (HR 1.014, p=0.06) was of borderline significance on analysis of intracranial control.

CONCLUSIONS

This pooled analysis has provided robust outcome data regarding the use of arc-based radiotherapy with SIB.

Dose comparisons for conformal, IMRT and VMAT prostate plans

PURPOSE

Volumetric-modulated arc therapy (VMAT) is a relatively new treatment technique in radiation therapy. A comparison study of conformal, intensity-modulated radiation therapy (IMRT) and single- and double-arc VMAT plans was undertaken to evaluate the dosimetric impact of this new technology in prostate cases. The research questions were as follows: how does VMAT dosimetry compare with IMRT and conformal plans?; does VMAT increase the volume of bowel receiving lower doses?; are one or two VMAT arcs required for standard prostate cases?

METHODS

Eight prostate cancer and post-prostatectomy patients were randomly selected for this study. Conformal, IMRT and single and double Arc VMAT plans were generated and dosimetric evaluations were performed. Each plan was prescribed a total of 75.6 Gy over a course of 42 fractions to the planning target volume (PTV).

RESULTS

The Healthy Tissue Conformity Index and the conformation number results revealed the IMRT and two VMAT techniques to have superior dosimetry to the PTV compared with the conformal plans. The maximum dose delivered to the PTV was significantly higher with the single-arc VMAT technique compared with the conformal or double-arc VMAT plans. There were no significant differences between the planning techniques for the bladder and small bowel dosimetry. However, IMRT and VMAT plans delivered less radiation to the rectum and femoral heads, and a single-arc VMAT plan was optimal for the right femoral head and the two VMAT techniques were optimal to the IMRT plans for the left femoral head.

CONCLUSIONS

Single- and double-arc VMAT consistently resulted in favourable or slightly superior dosimetry when compared with static gantry IMRT for prostate cases. Both the VMAT techniques and static gantry IMRT resulted in superior critical tissue sparing when compared with conformal plans.

Dosimetric comparison of RapidArc with fixed gantry intensity-modulated radiotherapy treatment for multiple liver metastases radiotherapy

We wanted to compare the dosimetric difference and treatment efficiency of RapidArc and fixed gantry intensity-modulated radiotherapy treatment (IMRT) for multiple liver metastases. Computed tomography datasets of 10 patients were studied retrospectively. IMRT plans were generated using 5 fields and RapidArc using either 1 or 2 arcs. The dose distribution of planning target volume (PTV), organs at risk (OARs), and the normal tissue were compared. Monitor units and treatment time were scored to measure expected treatment efficiency. Both RapidArc and IMRT plans resulted in equivalent target coverage. There was no statistically significant difference for the maximum and the minimum dose of PTV. RapidArc plans achieved an improved conformity index compared with IMRT (RA1 = 1.68 ± 0.27, RA2 = 1.61 ± 0.25, IMRT = 1.80 ± 0.37). For OARs, all techniques respected planning objectives. RapidArc plans had a lower dose in V(40) of small bowel than IMRT, but were higher in mean dose of kidneys. Concerning the V(5), V(10), and V(15) of healthy tissue, RapidArc plans were higher than IMRT. However, the V(20), V(25), and V(30) of healthy tissue in RapidArc plans were lower than IMRT. Monitor units per fraction of RapidArc plans were about 40% or 46% of IMRT. Compared with IMRT plans, treatment time of RapidArc plans were reduced by 60% or 70%. All techniques respected planning objectives. RapidArc showed statistical improvements in conformity index and healthy tissue sparing with uncompromised target coverage. This, in combination with fewer monitor units and short delivery time, can lead to clinically significant advances for the treatment of multiple liver metastases.

Volumetric-modulated arc therapy: effective and efficient end-to-end patient-specific quality assurance

PURPOSE

To explore an effective and efficient end-to-end patient-specific quality-assurance (QA) protocol for volumetric modulated arc radiotherapy (VMAT) and to evaluate the suitability of a stationary radiotherapy QA device (two-dimensional [2D] ion chamber array) for VMAT QA.

METHODS AND MATERIALS

Three methods were used to analyze 39 VMAT treatment plans for brain, spine, and prostate: ion chamber (one-dimensional absolute, n = 39), film (2D relative, coronal/sagittal, n = 8), and 2D ion chamber array (ICA, 2D absolute, coronal/sagittal, n = 39) measurements. All measurements were compared with the treatment planning system dose calculation either via gamma analysis (3%, 3- to 4-mm distance-to-agreement criteria) or absolute point dose comparison. The film and ion chamber results were similarly compared with the ICA measurements.

RESULTS

Absolute point dose measurements agreed well with treatment planning system computed doses (ion chamber: median deviation, 1.2%, range, -0.6% to 3.3%; ICA: median deviation, 0.6%, range, -1.8% to 2.9%). The relative 2D dose measurements also showed good agreement with computed doses (>93% of pixels in all films passing gamma, >90% of pixels in all ICA measurements passing gamma). The ICA relative dose results were highly similar to those of film (>90% of pixels passing gamma). The coronal and sagittal ICA measurements were statistically indistinguishable by the paired t test with a hypothesized mean difference of 0.1%. The ion chamber and ICA absolute dose measurements showed a similar trend but had disparities of 2-3% in 18% of plans.

CONCLUSIONS

After validating the new VMAT implementation with ion chamber, film, and ICA, we were able to maintain an effective yet efficient patient-specific VMAT QA protocol by reducing from five (ion chamber, film, and ICA) to two measurements (ion chamber and single ICA) per plan. The ICA (Matrixx®, IBA Dosimetry) was validated for VMAT QA, but ion chamber measurements are recommended for absolute dose comparison until future developments correct the ICA angular dependence.

Intensity-modulated arc therapy: principles, technologies and clinical implementation

Intensity-modulated arc therapy (IMAT) was proposed by Yu (1995 Phys. Med. Biol. 40 1435-49) as an alternative to tomotherapy. Over more than a decade, much progress has been made. The advantages and limitations of the IMAT technique have also been better understood. In recent years, single-arc forms of IMAT have emerged and become commercially adopted. The leading example is the volumetric-modulated arc therapy (VMAT), a single-arc form of IMAT that delivers apertures of varying weights with a single-arc rotation that uses dose-rate variation of the treatment machine. With commercial implementation of VMAT, wide clinical adoption has quickly taken root. However, there remains a lack of general understanding for the planning of such arc treatments, as well as what delivery limitations and compromises are made. Commercial promotion and competition add further confusion for the end users. It is therefore necessary to provide a summary of this technology and some guidelines on its clinical implementation. The purpose of this review is to provide a summary of the works from the radiotherapy community that led to wide clinical adoption, and point out the issues that still remain, providing some perspective on its further developments. Because there has been vast experience in IMRT using multiple intensity-modulated fields, comparisons between IMAT and IMRT are also made in the review within the areas of planning, delivery and quality assurance.

Inverse planning for four-dimensional (4D) volumetric modulated arc therapy

PURPOSE

To develop a 4D volumetric modulated arc therapy (VMAT) inverse planning framework.

METHODS

4D VMAT inverse planning aims to derive an aperture and weight modulated arc therapy treatment plan that optimizes the accumulated dose distribution from all gantry angles and breathing phases. Under an assumption that the gantry rotation and patient breathing are synchronized (i.e., there is a functional relationship between the phase of the patient breathing cycle and the beam angle), the authors compute the contribution from different respiration phases through the registration of the phased CT images. The accumulative dose distribution is optimized by iteratively adjusting the aperture shape and weight of each beam through the minimization of the planning objective function. For comparison, traditional 3D VMAT plans are also performed for the two cases and the performance of the proposed technique is demonstrated.

RESULTS

A framework for 4D VMAT inverse planning has been proposed. With the consideration of the extra dimension of time in VMAT, a tighter target margin can be achieved with a full duty cycle, which is otherwise not achievable simultaneously by either 3D VMAT optimization or gated VMAT.

CONCLUSIONS

The 4D VMAT planning formulism proposed here provides useful insight on how the "time" dimension can be exploited in rotational arc therapy to maximally compensate for the intrafraction organ motion.

Arc-modulated radiation therapy based on linear models

This paper reports an inverse arc-modulated radiation therapy planning technique based on linear models. It is implemented with a two-step procedure. First, fluence maps for 36 fixed-gantry beams are generated using a linear model-based intensity-modulated radiation therapy (IMRT) optimization algorithm. The 2D fluence maps are decomposed into 1D fluence profiles according to each leaf pair position. Second, a mixed integer linear model is used to construct the leaf motions of an arc delivery that reproduce the 1D fluence profile previously derived from the static gantry IMRT optimization. The multi-leaf collimator (MLC) sequence takes into account the starting and ending leaf positions in between the neighbouring apertures, such that the MLC segments of the entire treatment plan are deliverable in a continuous arc. Since both steps in the algorithm use linear models, implementation is simple and straightforward. Details of the algorithm are presented, and its conceptual correctness is verified with clinical cases representing prostate and head-and-neck treatments.

Dose correction strategy for the optimization of volumetric modulated arc therapy

PURPOSE

Dose calculation during optimization of volumetric modulated arc therapy (VMAT) is necessarily simplified to keep computation time manageably low; however the approximations used in the scatter dose calculation lead to discrepancy with more accurate dose calculation following optimization. The purpose of this study is to develop a dose correction strategy in optimization that can minimize the disagreement.

METHODS

VMAT delivery is modeled using a number of static equispaced beams. Dose correction factors (C(ij)) are associated with each beam i and point j inside the region of interest. C(ij) is calculated as the ratio of dose obtained from the full scatter dose calculation over that from the partial scatter dose calculation in optimization. VMAT optimization algorithm is a multiple resolution approach. The dose correction factors are calculated at the beginning of each resolution and applied as multiplicative corrections to the partial scatter dose during optimization. Clinical cases for brain, prostate, paraspinal, and esophagus are utilized to evaluate the method. Treatment plans created with and without the correction scheme are normalized such that the complication rates of organs at risk (OARs) are comparable. The resulting planning target volume (PTV) mean doses are used to compare plan quality.

RESULTS

The difference between the dose calculated at the end of optimization and at the end of the final forward dose calculation is reduced from 7% and 5% for the PTV and OAR mean doses without correction to approximately 1% with correction. Applying dose correction during optimization saves planners 2-4 h in average in treatment planning, and has a positive impact on plan quality, evidenced by a noticeably higher PTV mean dose: 2.1%, 2.4%, 0.5%, and 9.3% of the corresponding prescription dose in the brain, esophagus, prostate, and paraspinal cases, respectively.

CONCLUSIONS

When dose correction is applied during optimization, dose discrepancies between optimization and full dose calculation are reduced. Integrating dose correction in VMAT optimization allows planners to adjust the optimization constraints more easily and confidently during optimization and has the potential to improve plan quality.

An approach to multiobjective optimization of rotational therapy. II. Pareto optimal surfaces and linear combinations of modulated blocked arcs for a prostate geometry

PURPOSE

The purpose of this work is twofold: To further develop an approach to multiobjective optimization of rotational therapy treatments recently introduced by the authors [J. Pardo-Montero and J. D. Fenwick, "An approach to multiobjective optimization of rotational therapy," Med. Phys. 36, 3292-3303 (2009)], especially regarding its application to realistic geometries, and to study the quality (Pareto optimality) of plans obtained using such an approach by comparing them with Pareto optimal plans obtained through inverse planning.

METHODS

In the previous work of the authors, a methodology is proposed for constructing a large number of plans, with different compromises between the objectives involved, from a small number of geometrically based arcs, each arc prioritizing different objectives. Here, this method has been further developed and studied. Two different techniques for constructing these arcs are investigated, one based on image-reconstruction algorithms and the other based on more common gradient-descent algorithms. The difficulty of dealing with organs abutting the target, briefly reported in previous work of the authors, has been investigated using partial OAR unblocking. Optimality of the solutions has been investigated by comparison with a Pareto front obtained from inverse planning. A relative Euclidean distance has been used to measure the distance of these plans to the Pareto front, and dose volume histogram comparisons have been used to gauge the clinical impact of these distances. A prostate geometry has been used for the study.

RESULTS

For geometries where a blocked OAR abuts the target, moderate OAR unblocking can substantially improve target dose distribution and minimize hot spots while not overly compromising dose sparing of the organ. Image-reconstruction type and gradient-descent blocked-arc computations generate similar results. The Pareto front for the prostate geometry, reconstructed using a large number of inverse plans, presents a hockey-stick shape comprising two regions: One where the dose to the target is close to prescription and trade-offs can be made between doses to the organs at risk and (small) changes in target dose, and one where very substantial rectal sparing is achieved at the cost of large target underdosage. Plans computed following the approach using a conformal arc and four blocked arcs generally lie close to the Pareto front, although distances of some plans from high gradient regions of the Pareto front can be greater. Only around 12% of plans lie a relative Euclidean distance of 0.15 or greater from the Pareto front. Using the alternative distance measure of Craft ["Calculating and controlling the error of discrete representations of Pareto surfaces in convex multi-criteria optimization," Phys. Medica (to be published)], around 2/5 of plans lie more than 0.05 from the front. Computation of blocked arcs is quite fast, the algorithms requiring 35%-80% of the running time per iteration needed for conventional inverse plan computation.

CONCLUSIONS

The geometry-based arc approach to multicriteria optimization of rotational therapy allows solutions to be obtained that lie close to the Pareto front. Both the image-reconstruction type and gradient-descent algorithms produce similar modulated arcs, the latter one perhaps being preferred because it is more easily implementable in standard treatment planning systems. Moderate unblocking provides a good way of dealing with OARs which abut the PTV. Optimization of geometry-based arcs is faster than usual inverse optimization of treatment plans, making this approach more rapid than an inverse-based Pareto front reconstruction.

Comparison of Elekta VMAT with helical tomotherapy and fixed field IMRT: plan quality, delivery efficiency and accuracy

PURPOSE

Helical tomotherapy (HT) and volumetric modulated arc therapy (VMAT) are arc-based approaches to IMRT delivery. The objective of this study is to compare VMAT to both HT and fixed field IMRT in terms of plan quality, delivery efficiency, and accuracy.

METHODS

Eighteen cases including six prostate, six head-and-neck, and six lung cases were selected for this study. IMRT plans were developed using direct machine parameter optimization in the Pinnacle3 treatment planning system. HT plans were developed using a Hi-Art II planning station. VMAT plans were generated using both the Pinnacle3 SmartArc IMRT module and a home-grown arc sequencing algorithm. VMAT and HT plans were delivered using Elekta's PreciseBeam VMAT linac control system (Elekta AB, Stockholm, Sweden) and a TomoTherapy Hi-Art II system (TomoTherapy Inc., Madison, WI), respectively. Treatment plan quality assurance (QA) for VMAT was performed using the IBA MatriXX system while an ion chamber and films were used for HT plan QA.

RESULTS

The results demonstrate that both VMAT and HT are capable of providing more uniform target doses and improved normal tissue sparing as compared with fixed field IMRT. In terms of delivery efficiency, VMAT plan deliveries on average took 2.2 min for prostate and lung cases and 4.6 min for head-and-neck cases. These values increased to 4.7 and 7.0 min for HT plans.

CONCLUSIONS

Both VMAT and HT plans can be delivered accurately based on their own QA standards. Overall, VMAT was able to provide approximately a 40% reduction in treatment time while maintaining comparable plan quality to that of HT.

Beam's-eye-view Dosimetrics-guided inverse planning for aperture-modulated arc therapy

PURPOSE

To use angular beam's-eye-view dosimetrics (BEVD) information to improve the computational efficiency and plan quality of inverse planning of aperture-modulated arc therapy (AMAT).

METHODS AND MATERIALS

In BEVD-guided inverse planning, the angular space spanned by a rotational arc is represented by a large number of fixed-gantry beams with angular spacing of approximately 2.5 degrees. Each beam is assigned with an initial aperture shape determined by the beam's-eye-view (BEV) projection of the planning target volume (PTV) and an initial weight. Instead of setting the beam weights arbitrarily, which slows down the subsequent optimization process and may result in a suboptimal solution, a priori knowledge about the quality of the beam directions derived from a BEVD is adopted to initialize the weights. In the BEVD calculation, a higher score is assigned to directions that allow more dose to be delivered to the PTV without exceeding the dose tolerances of the organs at risk (OARs) and vice versa. Simulated annealing is then used to optimize the segment shapes and weights. The BEVD-guided inverse planning is demonstrated by using two clinical cases, and the results are compared with those of a conventional approach without BEVD guidance.

RESULTS

An a priori knowledge-guided inverse planning scheme for AMAT is established. The inclusion of BEVD guidance significantly improves the convergence behavior of AMAT inverse planning and results in much better OAR sparing as compared with the conventional approach.

CONCLUSIONS

BEVD-guidance facilitates AMAT treatment planning and provides a comprehensive tool to maximally use the technical capacity of the new arc therapeutic modality.

Accelerated ray tracing for radiotherapy dose calculations on a GPU

PURPOSE

The graphical processing unit (GPU) on modern graphics cards offers the possibility of accelerating arithmetically intensive tasks. By splitting the work into a large number of independent jobs, order-of-magnitude speedups are reported. In this article, the possible speedup of PLATO's ray tracing algorithm for dose calculations using a GPU is investigated.

METHODS

A GPU version of the ray tracing algorithm was implemented using NVIDIA's CUDA, which extends the standard C language with functionality to program graphics cards. The developed algorithm was compared based on the accuracy and speed to a multithreaded version of the PLATO ray tracing algorithm. This comparison was performed for three test geometries, a phantom and two radiotherapy planning CT datasets (a pelvic and a head-and-neck case). For each geometry, four different source positions were evaluated. In addition to this, for the head-and-neck case also a vertex field was evaluated.

RESULTS

The GPU algorithm was proven to be more accurate than the PLATO algorithm by elimination of the look-up table for z indices that introduces discretization errors in the reference algorithm. Speedups for ray tracing were found to be in the range of 2.1-10.1, relative to the multithreaded PLATO algorithm running four threads. For dose calculations the speedup measured was in the range of 1.5-6.2. For the speedup of both the ray tracing and the dose calculation, a strong dependency on the tested geometry was found. This dependency is related to the fraction of air within the patient's bounding box resulting in idle threads.

CONCLUSIONS

With the use of a GPU, ray tracing for dose calculations can be performed accurately in considerably less time. Ray tracing was accelerated, on average, with a factor of 6 for the evaluated cases. Dose calculation for a single beam can typically be carried out in 0.6-0.9 s for clinically realistic datasets. These findings can be used in conventional planning to enable (nearly) real-time dose calculations. Also the importance for treatment optimization techniques is evident.

Quality assurance of volumetric modulated arc therapy using Elekta Synergy

PURPOSE. Recently, Elekta has supplied volumetric modulated arc therapy (VMAT) in which multi-leaf collimator (MLC) shape, jaw position, collimator angle, and gantry speed vary continuously during gantry rotation. A quality assurance procedure for VMAT delivery is described. METHODS AND MATERIALS. A single-arc VMAT plan with 73 control points (CPs) and 5-degree gantry angle spacing for a prostate cancer patient has been created by ERGO + + treatment planning system (TPS), where MLC shapes are given by anatomic relationship between a target and organs at risk and the monitor unit for each CP is optimized based on given dose prescriptions. Actual leaf and jaw positions, gantry angles and dose rates during prostate VMAT delivery were recorded in every 0.25 seconds, and the errors between planned and actual values were evaluated. The dose re-calculation using these recorded data has been performed and compared with the original TPS plan using the gamma index. RESULTS. Typical peak errors of gantry angles, leaf positions, and jaw positions were 3 degrees, 0.6 mm, and 1 mm, respectively. The dose distribution obtained by the TPS plan and the recalculated one agreed well under 2%-2 mm gamma index criteria. CONCLUSIONS. Quality assurance for prostate VMAT delivery has been performed with a satisfied result.

A generalized inverse planning tool for volumetric-modulated arc therapy

The recent development in linear accelerator control systems, named volumetric-modulated arc therapy (VMAT), has generated significant interest in arc-based intensity-modulated radiation therapy (IMRT). The VMAT delivery technique features simultaneous changes in dose rate, gantry angle and gantry rotation speed as well as multi-leaf collimator (MLC) leaf positions while radiation is on. In this paper, we describe a generalized VMAT planning tool that is designed to take full advantage of the capabilities of the new linac control systems. The algorithm incorporates all of the MLC delivery constraints such as restrictions on MLC leaf interdigitation and the MLC leaf velocity constraints. A key feature of the algorithm is that it is able to plan for both single- and multiple-arc deliveries. Compared to conventional step-and-shoot IMRT plans, our VMAT plans created using this tool can achieve similar or better plan quality with less MU and better delivery efficiency. The accuracy of the obtained VMAT plans is also demonstrated through plan verifications performed on an Elekta Synergy linear accelerator equipped with a conventional MLC of 1 cm leaf width using a PreciseBeam VMAT linac control system.

An approach to multiobjective optimization of rotational therapy

Multiobjective optimization is used in radiotherapy, especially IMRT, to generate treatment plans which meet different objectives to varying extents. Trade-off surfaces can be constructed representing the gains and losses of different objectives when switching from one plan to another, and the planner can interactively explore different treatment possibilities without the need for reoptimization. In this work a method for the multiobjective optimization of rotational therapy is introduced. The proposed method is applied slice per slice and uses the geometry of the slice directly to construct several arcs, each conformally irradiating the tumor and blocking a number (0,1,2,...) of different organs at risk present in the treatment. The blocked arc dose distributions so obtained are quite inhomogeneous in the target. An algorithm, based on the iterative reconstruction of images from projections, has been developed to compensate for this inhomogeneity, leading to compensated blocked arcs which deliver more uniform target doses but still block critical structures. Different treatments can be obtained as linear combinations of these arcs, each involving different trade-offs among the objectives involved. The compensatory algorithm substantially improves the target dose uniformity of blocked arcs at the cost of slightly increasing the dose to the rest of the body, allowing delivery of good uniform dose distributions to the target without significantly irradiating the blocked organ(s). Trade-off surfaces are presented for slices containing a target and one or two critical structures. The method is directly implementable using axial or helical tomotherapy. Implementation for conventional linear accelerators will be more difficult because the number of arcs needed to deliver such treatments can be large, an issue to be explored in future work.

Volumetric modulated arc therapy: planning and evaluation for prostate cancer cases

PURPOSE

To develop an optimization method using volumetric modulated arc therapy (VMAT) and evaluate VMAT plans relative to the standard intensity-modulated radiotherapy (IMRT) approach in prostate cancer.

METHODS AND MATERIALS

A single gantry rotation was modeled using 177 equispaced beams. Multileaf collimator apertures and dose rates were optimized with respect to gantry angle subject to dose-volume-based objectives. Our VMAT implementation used conjugate gradient descent to optimize dose rate, and stochastic sampling to find optimal multileaf collimator leaf positions. A treatment planning study of 11 prostate cancer patients with a prescription dose of 86.4 Gy was performed to compare VMAT with a standard five-field IMRT approach. Plan evaluation statistics included the percentage of planning target volume (PTV) receiving 95% of prescribed dose (V95), dose to 95% of PTV (D95), mean PTV dose, tumor control probability, and dosimetric endpoints of normal organs, whereas monitor unit (MU) and delivery time were used to assess delivery efficiency.

RESULTS

Patient-averaged PTV V95, D95, mean dose, and tumor control probability in VMAT plans were 96%, 82.6 Gy, 88.5 Gy, and 0.920, respectively, vs. 97%, 84.0 Gy, 88.9 Gy, and 0.929 in IMRT plans. All critical structure dose requirements were met. The VMAT plans presented better rectal wall sparing, with a reduction of 1.5% in normal tissue complication probability. An advantage of VMAT plans was that the average number of MUs (290 MU) was less than for IMRT plans (642 MU).

CONCLUSION

The VMAT technique can reduce beam on time by up to 55% while maintaining dosimetric quality comparable to that of the standard IMRT approach.

Quality Control of Portal Imaging with PTW EPID QC PHANTOM

PURPOSE

Quality assurance (QA) and quality control (QC) of different electronic portal imaging devices (EPID) and portal images with the PTW EPID QC PHANTOM.

MATERIAL AND METHODS

Characteristic properties of images of different file formats were measured on Siemens OptiVue500aSi, Siemens BeamView Plus, Elekta iView, and Varian PortalVision and analyzed with the epidSoft 2.0 program in four radiation therapy centers. The portal images were taken with Kodak X-OMAT V and the Kodak Portal Localisation ReadyPack films and evaluated with the same program.

RESULTS

The optimal exposition both for EPIDs and portal films of different kind was determined. For double exposition, the 2+1 MU values can be recommended in the case of Siemens OptiVue500aSi Elekta iView and Kodak Portal Localisation ReadyPack films, while for Siemens BeamView Plus, Varian PortalVision and Kodak X-OMAT V film 7+7 MU is recommended.

CONCLUSION

The PTW EPID QC PHANTOM can be used not only for amorphous silicon EPIDs but also for images taken with a video-based system or by using an ionization chamber matrix or for portal film. For analysis of QC tests, a standardized format (used at the acceptance test) should be applied, as the results are dependent on the file format used.

Real-time 3D internal marker tracking during arc radiotherapy by the use of combined MV-kV imaging

To minimize the adverse dosimetric effect caused by tumor motion, it is desirable to have real-time knowledge of the tumor position throughout the beam delivery process. A promising technique to realize the real-time image guided scheme in external beam radiation therapy is through the combined use of MV and onboard kV beam imaging. The success of this MV-kV triangulation approach for fixed-gantry radiation therapy has been demonstrated. With the increasing acceptance of modern arc radiotherapy in the clinics, a timely and clinically important question is whether the image guidance strategy can be extended to arc therapy to provide the urgently needed real-time tumor motion information. While conceptually feasible, there are a number of theoretical and practical issues specific to the arc delivery that need to be resolved before clinical implementation. The purpose of this work is to establish a robust procedure of system calibration for combined MV and kV imaging for internal marker tracking during arc delivery and to demonstrate the feasibility and accuracy of the technique. A commercially available LINAC equipped with an onboard kV imager and electronic portal imaging device (EPID) was used for the study. A custom built phantom with multiple ball bearings was used to calibrate the stereoscopic MV-kV imaging system to provide the transformation parameters from imaging pixels to 3D world coordinates. The accuracy of the fiducial tracking system was examined using a 4D motion phantom capable of moving in accordance with a pre-programmed trajectory. Overall, spatial accuracy of MV-kV fiducial tracking during the arc delivery process for normal adult breathing amplitude and period was found to be better than 1 mm. For fast motion, the results depended on the imaging frame rates. The RMS error ranged from approximately 0.5 mm for the normal adult breathing pattern to approximately 1.5 mm for more extreme cases with a low imaging frame rate of 3.4 Hz. In general, highly accurate real-time tracking of implanted markers using hybrid MV-kV imaging is achievable and the technique should be useful to improve the beam targeting accuracy of arc therapy.

The GLAaS algorithm for portal dosimetry and quality assurance of RapidArc, an intensity modulated rotational therapy

BACKGROUND

To expand and test the dosimetric procedure, known as GLAaS, for amorphous silicon detectors to the RapidArc intensity modulated arc delivery with Varian infrastructures and to test the RapidArc dosimetric reliability between calculation and delivery.

METHODS

The GLAaS algorithm was applied and tested on a set of RapidArc fields at both low (6 MV) and high (18 MV) beam energies with a PV-aS1000 detector. Pilot tests for short arcs were performed on a 6 MV beam associated to a PV-aS500. RapidArc is a novel planning and delivery method in the category of intensity modulated arc therapies aiming to deliver highly modulated plans with variable MLC shapes, dose rate and gantry speed during rotation. Tests were repeated for entire (360 degrees) gantry rotations on composite dose plans and for short partial arcs (of approximately 6 or 12 degrees) to assess GLAaS and RapidArc mutual relationships on global and fine delivery scales. The gamma index concept of Low and the Modulation Index concept of Webb were applied to compare quantitatively TPS dose matrices and dose converted PV images.

RESULTS

The Gamma Agreement Index computed for a Distance to Agreement of 3 mm and a Dose Difference (DeltaD) of 3% was, as mean +/- 1 SD, 96.7 +/- 1.2% at 6 MV and 94.9 +/- 1.3% at 18 MV, over the field area. These findings deteriorated slightly is DeltaD was reduced to 2% (93.4 +/- 3.2% and 90.1 +/- 3.1%, respectively) and improved with DeltaD = 4% (98.3 +/- 0.8% and 97.3 +/- 0.9%, respectively). For all tests a grid of 1 mm and the AAA photon dose calculation algorithm were applied. The spatial resolution of the PV-aS1000 is 0.392 mm/pxl. The Modulation Index for calculations resulted 17.0 +/- 3.2 at 6 MV and 15.3 +/- 2.7 at 18 MV while the corresponding data for measurements were: 18.5 +/- 3.7 and 17.5 +/- 3.7. Partial arcs findings were (for DeltaD = 3%): GAI = 96.7 +/- 0.9% for 6 degrees rotations and 98.0 +/- 1.1% for 12 degrees rotations.

CONCLUSION

The GLAaS method can be considered as a valid Quality Assurance tool for the verification of RapidArc fields. The two implementations (composite rotation or short arcs) allow the verification of either the entire delivery or of short partial segments to possibly identify local discrepancies between delivery and calculations. RapidArc, according to the findings, appears to be a safe delivery method in terms of dosimetric accuracy allowing its clinical application.

Forward-planning intensity-modulated radiotherapy technique for prostate cancer

In this study, we present an intensity‐modulated radiotherapy technique based on forward planning dose calculations to provide a concave dose distribution to the prostate and seminal vesicles by means of modified dynamic arc therapy (M‐DAT). Dynamic arcs (350 degrees) conforming to the beam's eye view of the prostate and seminal vesicles while shielding the rectum, combined with two lateral oblique conformal fields (15 degrees with respect to laterals) fitting the prostate only, were applied to deliver doses of 78 Gy and 61.23 Gy in 39 fractions to the prostate and seminal vesicles respectively. Dynamic wedges (45 degrees of thick end, anteriorly oriented) were used with conformal beams to adjust the dose homogeneity to the prostate, although in some cases, hard wedges (30 degrees of thick part, inferiorly oriented) were used with arcs to adjust the dose coverage to the seminal vesicles. The M‐DAT was applied to 10 patients in supine and 10 patients in prone positioning to determine the proper patient positioning for optimum protection of the rectum. The M‐DAT was compared with the simplified intensity‐modulated arc therapy (SIMAT) technique, composed of three phases of bilateral dynamic arcs. The mean rectal dose in M‐DAT for prone patients was 22.5±5.1 Gy; in M‐DAT and SIMAT for supine patients, it was 30.2±5.1 Gy and 39.4±6.0 Gy respectively. The doses to 15%, 25%, 35%, and 50% of the rectum volume in M‐DAT for prone patients were 44.5±10.2 Gy, 33.0±8.2 Gy, 25.3±6.4 Gy, and 16.3±5.6 Gy respectively. These values were lower than those in M‐DAT and in SIMAT for supine patients by 7.7%, 18.2%, 22.4%, and 28.5% and by 25.0%, 32.1%, 34.9%, and 41.9% of the prescribed dose (78 Gy) respectively. Ion chamber measurements showed good agreement of the calculated and measured isocentric dose (maximum deviation of 3.5%). Accuracy of the dose distribution calculation was evaluated by film dosimetry using a gamma index, allowing 3% dose variation and 4 mm distance to agreement as the individual acceptance criteria in prostate and seminal vesicle levels alike for all supine and prone patients. We found that fewer than 10% of the pixels in the dose distribution of the calculated area of 10×10−cm failed the acceptance criteria. These pixels were observed mainly in the low‐dose regions, particularly at the level of the seminal vesicles.

In conclusion, the single‐phase M‐DAT technique with patients in the prone position was found to provide the intended coverage of the prescribed doses to the prostate and seminal vesicles with improved protection for the rectum. Accordingly, M‐DAT has replaced non‐modulated conformal radiotherapy or SIMAT as the standard treatment for prostate cancer in our department.

PACS number: 87.53.Tf

Comparison of Plan Quality Provided by Intensity-Modulated Arc Therapy and Helical Tomotherapy

PURPOSE

Intensity-modulated arc therapy (IMAT) is an arc-based approach to intensity-modulated radiotherapy (IMRT) that can be delivered on a conventional linear accelerator using a conventional multileaf collimator. In a previous work, we demonstrated that our arc-sequencing algorithm can produce highly conformal IMAT plans. Through plan comparisons, we explored the ability of IMAT to serve as an alternative to helical tomotherapy.

METHODS AND MATERIALS

The IMAT plans were created for 10 patients previously treated with helical tomotherapy. Treatment plan comparisons, according to the target dose coverage and critical structure sparing, were performed to determine whether similar plan quality could be achieved using IMAT.

RESULTS

In 8 of 10 patient cases, IMAT was able to provide plan quality comparable to that of helical tomotherapy. In 2 of these 8 cases, the use of non-axial coplanar or non-coplanar arcs in IMAT planning led to significant improvements in normal tissue sparing. The remaining 2 cases posed particular dosimetric challenges. In 1 case, the target was immediately adjacent to a spinal cord that had received previous irradiation. The second case involved multiple target volumes and multiple prescription levels. Both IMAT and tomotherapy were able to produce clinically acceptable plans. Tomotherapy, however, provided a more uniform target dose and improved critical structure sparing.

CONCLUSIONS

For most cases, IMAT can provide plan qualities comparable to that of helical tomotherapy. For some intracranial tumors, IMAT's ability to deliver non-coplanar arcs led to significant dosimetric improvements. Helical tomotherapy, however, can provide improved dosimetric results in the most complex cases.

IMAT-SIM: A new method for the clinical dosimetry of intensity-modulated arc therapy (IMAT)

Dynamic-gantry multi-leaf collimator (MLC)-based, intensity-modulated radiotherapy (IMAT) has been proposed as an alternative to tomotherapy. In contrast to fixed-gantry, MLC-based intensity-modulated radiotherapy (IMRT), where commercial treatment planning systems (TPS) or dosimetric analysis software currently provide many automatic tools enabling two-dimensional (2D) detectors (matrix or electronic portal imaging devices) to be used as measurement systems, for the planning and delivery of IMAT these tools are generally not available. A new dosimetric method is proposed to overcome some of these limitations. By converting the MLC files of IMAT beams from arc to fixed gantry-angle modality, while keeping the leaf trajectories equal, IMAT plans can be both simulated in the TPS and executed as fixed-gantry, sliding-window DMLC treatments. In support of this idea, measurements of six IMAT plans, in their double form of original arcs and converted fixed-gantry DMLC beams (IMAT-SIM), have been compared among themselves and with their corresponding IMAT-SIM TPS calculations. Radiographic films and a 2D matrix ionization chamber detector rigidly attached to the accelerator gantry and set into a cubic plastic phantom have been used for these measurements. Finally, the TPS calculation-algorithm implementations of both conformal dynamic MLC arc (CD-ARC) modalities, used for clinical IMAT calculations, and DMLC modalities (IMAT-SIM), proposed as references for validating IMAT plan dose-distributions, have been compared. The comparisons between IMAT and IMAT-SIM delivered beams have shown very good agreement with similar shapes of the measured dose profiles which can achieve a mean deviation (+/-2sigma) of (0.35+/-0.16) mm and (0.37+/-0.14)%, with maximum deviations of 1.5 mm and 3%. Matching the IMAT measurements with their corresponding IMAT-SIM data calculated by the TPS, these deviations remain in the range of (1.01+/-0.28) mm and (-1.76+/-0.42)%, with maximums of 3 mm and 5%, limits generally accepted for IMRT plan dose validation. Differences in the algorithm implementations have been found, but by correcting CD-ARC calculations for the leaf-end transmission offset (LTO) effect the IMAT and IMAT-SIM simulations agree well in terms of final dose distributions. The differences found between IMAT and the IMAT-SIM beam measurements are due to the different controls of leaf motion (via electron gun delay in the latter) that cannot be used in the former to correct possible speed variations in the rotation of the gantry. As the IMAT delivered beams are identical to what the patient will receive during the treatment, and the IMAT-SIM beam calculations made by the TPS reproduce exactly the treatment plans of that patient, the accuracy of this new dosimetric method is comparable to that which is currently used for static IMRT. This new approach of 2D-detector dosimetry, together with the commissioning, quality-assurance, and preclinical dosimetric procedures currently used for IMRT techniques, can be applied and extended to any kind of dynamic-gantry MLC-based treatment modality either CD-ARC or IMAT.

A Prospective Evaluation of Helical Tomotherapy

PURPOSE

To report results from two clinical trials evaluating helical tomotherapy (HT).

METHODS AND MATERIALS

Patients were enrolled in one of two prospective trials of HT (one for palliative and one for radical treatment). Both an HT plan and a companion three-dimensional conformal radiotherapy (3D-CRT) plan were generated. Pretreatment megavoltage computed tomography was used for daily image guidance.

RESULTS

From September 2004 to January 2006, a total of 61 sites in 60 patients were treated. In all but one case, a clinically acceptable tomotherapy plan for treatment was generated. Helical tomotherapy plans were subjectively equivalent or superior to 3D-CRT in 95% of plans. Helical tomotherapy was deemed equivalent or superior in two thirds of dose-volume point comparisons. In cases of inferiority, differences were either clinically insignificant and/or reflected deliberate tradeoffs to optimize the HT plan. Overall imaging and treatment time (median) was 27 min (range, 16-91 min). According to a patient questionnaire, 78% of patients were satisfied to very satisfied with the treatment process.

CONCLUSIONS

Helical tomotherapy demonstrated clear advantages over conventional 3D-CRT in this diverse patient group. The prospective trials were helpful in deploying this technology in a busy clinical setting.

Segmentation and leaf sequencing for intensity modulated arc therapy

A common method in generating intensity modulated radiation therapy (IMRT) plans consists of a three step process: an optimized fluence intensity map (IM) for each beam is generated via inverse planning, this IM is then segmented into discrete levels, and finally, the segmented map is translated into a set of MLC apertures via a leaf sequencing algorithm. To date, limited work has been done on this approach as it pertains to intensity modulated arc therapy (IMAT), specifically in regards to the latter two steps. There are two determining factors that separate IMAT segmentation and leaf sequencing from their IMRT equivalents: (1) the intrinsic 3D nature of the intensity maps (standard 2D maps plus the angular component), and (2) that the dynamic multileaf collimator (MLC) constraints be met using a minimum number of arcs. In this work, we illustrate a technique to create an IMAT plan that replicates Tomotherapy deliveries by applying IMAT specific segmentation and leaf-sequencing algorithms to Tomotherapy output sinograms. We propose and compare two alternative segmentation techniques, a clustering method, and a bottom-up segmentation method (BUS). We also introduce a novel IMAT leaf-sequencing algorithm that explicitly takes leaf movement constraints into consideration. These algorithms were tested with 51 angular projections of the output leaf-open sinograms generated on the Hi-ART II treatment planning system (Tomotherapy Inc.). We present two geometric phantoms and 2 clinical scenarios as sample test cases. In each case 12 IMAT plans were created, ranging from 2 to 7 intensity levels. Half were generated using the BUS segmentation and half with the clustering method. We report on the number of arcs produced as well as differences between Tomotherapy output sinograms and segmented IMAT intensity maps. For each case one plan for each segmentation method is chosen for full Monte Carlo dose calculation (NumeriX LLC) and dose volume histograms (DVH) are calculated. In all cases, the BUS method outperformed the clustering, method. We recommend using the BUS algorithm and discuss potential improvements to the clustering algorithms.

An arc-sequencing algorithm for intensity modulated arc therapy

Intensity modulated arc therapy (IMAT) is an intensity modulated radiation therapy delivery technique originally proposed as an alternative to tomotherapy. IMAT uses a series of overlapping arcs to deliver optimized intensity patterns from each beam direction. The full potential of IMAT has gone largely unrealized due in part to a lack of robust and commercially available inverse planning tools. To address this, we have implemented an IMAT arc-sequencing algorithm that translates optimized intensity maps into deliverable IMAT plans. The sequencing algorithm uses simulated annealing to simultaneously optimize the aperture shapes and weights throughout each arc. The sequencer enforces the delivery constraints while minimizing the discrepancies between the optimized and sequenced intensity maps. The performance of the algorithm has been tested for ten patient cases (3 prostate, 3 brain, 2 head-and-neck, 1 lung, and 1 pancreas). Seven coplanar IMAT plans were created using an average of 4.6 arcs and 685 monitor units. Additionally, three noncoplanar plans were created using an average of 16 arcs and 498 monitor units. The results demonstrate that the arc sequencer can provide efficient and highly conformal IMAT plans. An average sequencing time of approximately 20 min was observed.

Tomotherapy and other innovative IMRT delivery systems

Fixed-field treatments, delivered using conventional clinical linear accelerators fitted with multileaf collimators, have rapidly become the standard form of intensity-modulated radiotherapy (IMRT). Several innovative nonstandard alternatives also exist, for which delivery and treatment planning systems are now commercially available. Three of these nonstandard IMRT approaches are reviewed here: tomotherapy, robotic linear accelerators (CyberKnife, Accuray Inc., Sunnyvale, CA), and standard linear accelerators modulated by jaws alone or by their jaws acting together with a tertiary beam-masking device. Rationales for the nonstandard IMRT approaches are discussed, and elements of their delivery system designs are briefly described. Differences between fixed-field IMRT dose distributions and the distributions that can be delivered by using the nonstandard technologies are outlined. Because conventional linear accelerators are finely honed machines, innovative design enhancement of one aspect of system performance often limits another facet of machine capability. Consequently the various delivery systems may prove optimal for different types of treatment, with specific machine designs excelling for disease sites with specific target volume and normal structure topologies. However it is likely that the delivery systems will be distinguished not just by the optimality of the dose distributions they deliver, but also by factors such as the efficiency of their treatment process, the integration of their onboard imaging systems into that process, and their ability to measure and minimize or compensate for target movement, including the effects of respiratory motion.