The method of intercepts in parameter space for the analysis of local minima caused by dose-volume constraints

Fluence map optimisation for prostate cancer intensity modulated radiotherapy planning using iterative solution method

Here we projected a model-based IMRT treatment plan to produce the optimal radiation dosage by considering that the maximum amount of prescribed dose should be delivered to the target without affecting the surrounding healthy tissues especially the OARs. Fluence mapping is used for inverse planning. This suggested method can generate global minima for IMRT plans with reliable plan quality among diverse treatment planners and to provide better safety for significant parallel OARs in an effective way. The whole methodology is having the capability to handles various objectives and to generate effective treatment procedures as validated with illustrations on the CORT dataset. For the validation of our methodology, we have compared our result with the two other approaches for calculating the objectives based on dose-volume bounds and found that in our methodology dose across the prostate and lymph nodes is maximum and the time required for the convergence is minimum.

Fluence map optimization (FMO) with dose-volume constraints in IMRT using the geometric distance sorting method

A new heuristic algorithm based on the so-called geometric distance sorting technique is proposed for solving the fluence map optimization with dose-volume constraints which is one of the most essential tasks for inverse planning in IMRT. The framework of the proposed method is basically an iterative process which begins with a simple linear constrained quadratic optimization model without considering any dose-volume constraints, and then the dose constraints for the voxels violating the dose-volume constraints are gradually added into the quadratic optimization model step by step until all the dose-volume constraints are satisfied. In each iteration step, an interior point method is adopted to solve each new linear constrained quadratic programming. For choosing the proper candidate voxels for the current dose constraint adding, a so-called geometric distance defined in the transformed standard quadratic form of the fluence map optimization model was used to guide the selection of the voxels. The new geometric distance sorting technique can mostly reduce the unexpected increase of the objective function value caused inevitably by the constraint adding. It can be regarded as an upgrading to the traditional dose sorting technique. The geometry explanation for the proposed method is also given and a proposition is proved to support our heuristic idea. In addition, a smart constraint adding/deleting strategy is designed to ensure a stable iteration convergence. The new algorithm is tested on four cases including head-neck, a prostate, a lung and an oropharyngeal, and compared with the algorithm based on the traditional dose sorting technique. Experimental results showed that the proposed method is more suitable for guiding the selection of new constraints than the traditional dose sorting method, especially for the cases whose target regions are in non-convex shapes. It is a more efficient optimization technique to some extent for choosing constraints than the dose sorting method. By integrating a smart constraint adding/deleting scheme within the iteration framework, the new technique builds up an improved algorithm for solving the fluence map optimization with dose-volume constraints.

An efficient dose calculation strategy for intensity modulated proton therapy

While intensity-modulated proton therapy (IMPT) has great potential to improve the therapeutic efficacy of radiotherapy, IMPT optimization can be computationally demanding, particularly for large and complex tumors. Here we propose a dose calculation strategy to accelerate IMPT optimization while reducing memory requirements. By using two adjustable threshold parameters, our method separates dose contributions from proton beamlets into major and minor components for each dose voxel. The optimization proceeds with two levels of iterations: in inner iterations, doses are updated in correspondence with changes in beamlet intensities from only the major contributions while keeping the portions from the minor contributions constant; in outer iterations, doses are recalculated exactly by considering both major and minor contributions. Since the number of elements in the influence matrix for major contributions is relatively small, each inner iteration proceeds quickly. Each outer iteration requires a longer computation time, but only a few such iterations are needed. Our study shows that the proposed strategy leads to nearly identical dose distributions as those optimized with the full influence matrix, but reducing computing time by at least a factor of 3 and internal memory requirements by a factor of 10 or more. In addition, we show that the proposed approach could enhance other optimization-related applications such as optimizing beam angles. By using an advanced lung cancer case that would demand large computing resources by conventional optimization approach, we show how our method may potentially help improve IMPT treatment planning in real clinical situations.

Local beam angle optimization with linear programming and gradient search

The optimization of beam angles in IMRT planning is still an open problem, with literature focusing on heuristic strategies and exhaustive searches on discrete angle grids. We show how a beam angle set can be locally refined in a continuous manner using gradient-based optimization in the beam angle space. The gradient is derived using linear programming duality theory. Applying this local search to 100 random initial angle sets of a phantom pancreatic case demonstrates the method, and highlights the many-local-minima aspect of the BAO problem. Due to this function structure, we recommend a search strategy of a thorough global search followed by local refinement at promising beam angle sets. Extensions to nonlinear IMRT formulations are discussed.

History of tomotherapy

Tomotherapy is the delivery of intensity modulated radiation therapy using rotational delivery of a fan beam in the manner of a CT scanner. In helical tomotherapy the couch and gantry are in continuous motion akin to a helical CT scanner. Helical tomotherapy is inherently capable of acquiring CT images of the patient in treatment position and using this information for image guidance. This review documents technological advancements of the field concentrating on the conceptual beginnings through to its first clinical implementation. The history of helical tomotherapy is also a story of technology migration from academic research to a university-industrial partnership, and finally to commercialization and widespread clinical use.

Speed and convergence properties of gradient algorithms for optimization of IMRT

Gradient algorithms are the most commonly employed search methods in the routine optimization of IMRT plans. It is well known that local minima can exist for dose-volume-based and biology-based objective functions. The purpose of this paper is to compare the relative speed of different gradient algorithms, to investigate the strategies for accelerating the optimization process, to assess the validity of these strategies, and to study the convergence properties of these algorithms for dose-volume and biological objective functions. With these aims in mind, we implemented Newton's, conjugate gradient (CG), and the steepest decent (SD) algorithms for dose-volume- and EUD-based objective functions. Our implementation of Newton's algorithm approximates the second derivative matrix (Hessian) by its diagonal. The standard SD algorithm and the CG algorithm with "line minimization" were also implemented. In addition, we investigated the use of a variation of the CG algorithm, called the "scaled conjugate gradient" (SCG) algorithm. To accelerate the optimization process, we investigated the validity of the use of a "hybrid optimization" strategy, in which approximations to calculated dose distributions are used during most of the iterations. Published studies have indicated that getting trapped in local minima is not a significant problem. To investigate this issue further, we first obtained, by trial and error, and starting with uniform intensity distributions, the parameters of the dose-volume- or EUD-based objective functions which produced IMRT plans that satisfied the clinical requirements. Using the resulting optimized intensity distributions as the initial guess, we investigated the possibility of getting trapped in a local minimum. For most of the results presented, we used a lung cancer case. To illustrate the generality of our methods, the results for a prostate case are also presented. For both dose-volume and EUD based objective functions, Newton's method far outperforms other algorithms in terms of speed. The SCG algorithm, which avoids expensive "line minimization," can speed up the standard CG algorithm by at least a factor of 2. For the same initial conditions, all algorithms converge essentially to the same plan. However, we demonstrate that for any of the algorithms studied, starting with previously optimized intensity distributions as the initial guess but for different objective function parameters, the solution frequently gets trapped in local minima. We found that the initial intensity distribution obtained from IMRT optimization utilizing objective function parameters, which favor a specific anatomic structure, would lead to a local minimum corresponding to that structure. Our results indicate that from among the gradient algorithms tested, Newton's method appears to be the fastest by far. Different gradient algorithms have the same convergence properties for dose-volume- and EUD-based objective functions. The hybrid dose calculation strategy is valid and can significantly accelerate the optimization process. The degree of acceleration achieved depends on the type of optimization problem being addressed (e.g., IMRT optimization, intensity modulated beam configuration optimization, or objective function parameter optimization). Under special conditions, gradient algorithms will get trapped in local minima, and reoptimization, starting with the results of previous optimization, will lead to solutions that are generally not significantly different from the local minimum.

Sensitivity of treatment plan optimisation for prostate cancer using the equivalent uniform dose (EUD) with respect to the rectal wall volume parameter

BACKGROUND AND PURPOSE

To analyse the sensitivity of plan optimisation of prostate cancer treatments with respect to changes in the volume parameter (n), when the EUD is used to control the dose in the rectal wall.

PATIENTS AND METHODS

A series of plans was defined, by varying n over a range between 0.08 and 1, and testing different cost functions and beam arrangements. In all cases, the aim was to minimise the EUD in the rectal wall, while ensuring specific dose coverage of the PTV, and limiting the dose in the other OARs. The results were evaluated in terms of 3-D dose distribution and with respect to the current clinical knowledge about late rectal toxicity after irradiation.

RESULTS

Different values of n lead to very similar dose distributions over the PTV (differences in mean dose < 1 Gy, differences in dose given to 99% of the volume < 1%). For the rectal wall, the following observations were made: (a) all cumulative DVH curves crossed each other around 60 Gy; (b) the rectal wall volume receiving doses between 30 and 45 Gy could change by 45 and 30%, respectively, depending on the value of n; (c) for doses higher than 70Gy the differences were typically within 5%. Different values of n also affected the position of isodose surfaces. The distance between the 70 and the 30 Gy isodose curves changed in the AP direction by a factor of 3 when n decreased from 1 to 0.08. High values of n were associated with less dose conformity and a larger volume (at least 20%) of normal tissues receiving 50 Gy or more. All DVHs for the rectal wall were below published dose toxicity thresholds except when the prescribed dose was escalated up to 86 Gy.

CONCLUSIONS

In most cases, the solutions associated with n values up to 0.25 produced similar dose distribution in the rectal wall for doses above 45 Gy, complying with the dose-toxicity thresholds we analysed. The choice of a specific value of n in the optimisation requires an analysis of its effects on the dose distribution for the rectal wall, but also on other aspects, such as the value of the dose to the non-involved normal tissues.

Degeneracy, frequency response and filtering in IMRT optimization

This paper attempts to provide an answer to some questions that remain either poorly understood, or not well documented in the literature, on basic issues related to intensity modulated radiation therapy (IMRT). The questions examined are: the relationship between degeneracy and frequency response of optimizations, effects of initial beamlet fluence assignment and stopping point, what does filtering of an optimized beamlet map actually do and how could image analysis help to obtain better optimizations? Two target functions are studied, a quadratic cost function and the log likelihood function of the dynamically penalized likelihood (DPL) algorithm. The algorithms used are the conjugate gradient, the stochastic adaptive simulated annealing and the DPL. One simple phantom is used to show the development of the analysis tools used and two clinical cases of medium and large dose matrix size (a meningioma and a prostate) are studied in detail. The conclusions reached are that the high number of iterations that is needed to avoid degeneracy is not warranted in clinical practice, as the quality of the optimizations, as judged by the DVHs and dose distributions obtained, does not improve significantly after a certain point. It is also shown that the optimum initial beamlet fluence assignment for analytical iterative algorithms is a uniform distribution, but such an assignment does not help a stochastic method of optimization. Stopping points for the studied algorithms are discussed and the deterioration of DVH characteristics with filtering is shown to be partially recoverable by the use of space-variant filtering techniques.

A novel linear programming approach to fluence map optimization for intensity modulated radiation therapy treatment planning

We present a novel linear programming (LP) based approach for efficiently solving the intensity modulated radiation therapy (IMRT) fluence-map optimization (FMO) problem to global optimality. Our model overcomes the apparent limitations of a linear-programming approach by approximating any convex objective function by a piecewise linear convex function. This approach allows us to retain the flexibility offered by general convex objective functions, while allowing us to formulate the FMO problem as a LP problem. In addition, a novel type of partial-volume constraint that bounds the tail averages of the differential dose-volume histograms of structures is imposed while retaining linearity as an alternative approach to improve dose homogeneity in the target volumes, and to attempt to spare as many critical structures as possible. The goal of this work is to develop a very rapid global optimization approach that finds high quality dose distributions. Implementation of this model has demonstrated excellent results. We found globally optimal solutions for eight 7-beam head-and-neck cases in less than 3 min of computational time on a single processor personal computer without the use of partial-volume constraints. Adding such constraints increased the running times by a factor of 2-3, but improved the sparing of critical structures. All cases demonstrated excellent target coverage (> 95%), target homogeneity (< 10% overdosing and < 7% underdosing) and organ sparing using at least one of the two models.

Optimizer convergence and local minima errors and their clinical importance

Two of the errors common in the inverse treatment planning optimization have been investigated. The first error is the optimizer convergence error, which appears because of non-perfect convergence to the global or local solution, usually caused by a non-zero stopping criterion. The second error is the local minima error, which occurs when the objective function is not convex and/or the feasible solution space is not convex. The magnitude of the errors, their relative importance in comparison to other errors as well as their clinical significance in terms of tumour control probability (TCP) and normal tissue complication probability (NTCP) were investigated. Two inherently different optimizers, a stochastic simulated annealing and deterministic gradient method were compared on a clinical example. It was found that for typical optimization the optimizer convergence errors are rather small, especially compared to other convergence errors, e.g., convergence errors due to inaccuracy of the current dose calculation algorithms. This indicates that stopping criteria could often be relaxed leading into optimization speed-ups. The local minima errors were also found to be relatively small and typically in the range of the dose calculation convergence errors. Even for the cases where significantly higher objective function scores were obtained the local minima errors were not significantly higher. Clinical evaluation of the optimizer convergence error showed good correlation between the convergence of the clinical TCP or NTCP measures and convergence of the physical dose distribution. On the other hand, the local minima errors resulted in significantly different TCP or NTCP values (up to a factor of 2) indicating clinical importance of the local minima produced by physical optimization.