Investigation of patient, tumour and treatment variables affecting residual motion for respiratory-gated radiotherapy

Comparison of visual biofeedback system with a guiding waveform and abdomen-chest motion self-control system for respiratory motion management

Irregular breathing can influence the outcome of 4D computed tomography imaging and cause artifacts. Visual biofeedback systems associated with a patient-specific guiding waveform are known to reduce respiratory irregularities. In Japan, abdomen and chest motion self-control devices (Abches) (representing simpler visual coaching techniques without a guiding waveform) are used instead; however, no studies have compared these two systems to date. Here, we evaluate the effectiveness of respiratory coaching in reducing respiratory irregularities by comparing two respiratory management systems. We collected data from 11 healthy volunteers. Bar and wave models were used as visual biofeedback systems. Abches consisted of a respiratory indicator indicating the end of each expiration and inspiration motion. Respiratory variations were quantified as root mean squared error (RMSE) of displacement and period of breathing cycles. All coaching techniques improved respiratory variation, compared with free-breathing. Displacement RMSEs were 1.43 ± 0.84, 1.22 ± 1.13, 1.21 ± 0.86 and 0.98 ± 0.47 mm for free-breathing, Abches, bar model and wave model, respectively. Period RMSEs were 0.48 ± 0.42, 0.33 ± 0.31, 0.23 ± 0.18 and 0.17 ± 0.05 s for free-breathing, Abches, bar model and wave model, respectively. The average reduction in displacement and period RMSE compared with the wave model were 27% and 47%, respectively. For variation in both displacement and period, wave model was superior to the other techniques. Our results showed that visual biofeedback combined with a wave model could potentially provide clinical benefits in respiratory management, although all techniques were able to reduce respiratory irregularities.

Breathing guidance in radiation oncology and radiology: A systematic review of patient and healthy volunteer studies

PURPOSE

The advent of image-guided radiation therapy has led to dramatic improvements in the accuracy of treatment delivery in radiotherapy. Such advancements have highlighted the deleterious impact tumor motion can have on both image quality and radiation treatment delivery. One approach to reducing tumor motion irregularities is the use of breathing guidance systems during imaging and treatment. These systems aim to facilitate regular respiratory motion which in turn improves image quality and radiation treatment accuracy. A review of such research has yet to be performed; it was therefore their aim to perform a systematic review of breathing guidance interventions within the fields of radiation oncology and radiology.

METHODS

From August 1-14, 2014, the following online databases were searched: Medline, Embase, PubMed, and Web of Science. Results of these searches were filtered in accordance to a set of eligibility criteria. The search, filtration, and analysis of articles were conducted in accordance with preferred reporting items for systematic reviews and meta-analyses. Reference lists of included articles, and repeat authors of included articles, were hand-searched.

RESULTS

The systematic search yielded a total of 480 articles, which were filtered down to 27 relevant articles in accordance to the eligibility criteria. These 27 articles detailed the intervention of breathing guidance strategies in controlled studies assessing its impact on such outcomes as breathing regularity, image quality, target coverage, and treatment margins, recruiting either healthy adult volunteers or patients with thoracic or abdominal lesions. In 21/27 studies, significant (p < 0.05) improvements from the use of breathing guidance were observed.

CONCLUSIONS

There is a trend toward the number of breathing guidance studies increasing with time, indicating a growing clinical interest. The results found here indicate that further clinical studies are warranted that quantify the clinical impact of breathing guidance, along with the health technology assessment to determine the advantages and disadvantages of breathing guidance.

Audiovisual biofeedback breathing guidance for lung cancer patients receiving radiotherapy: a multi-institutional phase II randomised clinical trial

BACKGROUND

There is a clear link between irregular breathing and errors in medical imaging and radiation treatment. The audiovisual biofeedback system is an advanced form of respiratory guidance that has previously demonstrated to facilitate regular patient breathing. The clinical benefits of audiovisual biofeedback will be investigated in an upcoming multi-institutional, randomised, and stratified clinical trial recruiting a total of 75 lung cancer patients undergoing radiation therapy.

METHODS/DESIGN

To comprehensively perform a clinical evaluation of the audiovisual biofeedback system, a multi-institutional study will be performed. Our methodological framework will be based on the widely used Technology Acceptance Model, which gives qualitative scales for two specific variables, perceived usefulness and perceived ease of use, which are fundamental determinants for user acceptance. A total of 75 lung cancer patients will be recruited across seven radiation oncology departments across Australia. Patients will be randomised in a 2:1 ratio, with 2/3 of the patients being recruited into the intervention arm and 1/3 in the control arm. 2:1 randomisation is appropriate as within the interventional arm there is a screening procedure where only patients whose breathing is more regular with audiovisual biofeedback will continue to use this system for their imaging and treatment procedures. Patients within the intervention arm whose free breathing is more regular than audiovisual biofeedback in the screen procedure will remain in the intervention arm of the study but their imaging and treatment procedures will be performed without audiovisual biofeedback. Patients will also be stratified by treating institution and for treatment intent (palliative vs. radical) to ensure similar balance in the arms across the sites. Patients and hospital staff operating the audiovisual biofeedback system will complete questionnaires to assess their experience with audiovisual biofeedback. The objectives of this clinical trial is to assess the impact of audiovisual biofeedback on breathing motion, the patient experience and clinical confidence in the system, clinical workflow, treatment margins, and toxicity outcomes.

DISCUSSION

This clinical trial marks an important milestone in breathing guidance studies as it will be the first randomised, controlled trial providing the most comprehensive evaluation of the clinical impact of breathing guidance on cancer radiation therapy to date. This study is powered to determine the impact of AV biofeedback on breathing regularity and medical image quality. Objectives such as determining the indications and contra-indications for the use of AV biofeedback, evaluation of patient experience, radiation toxicity occurrence and severity, and clinician confidence will shed light on the design of future phase III clinical trials.

TRIAL REGISTRATION

This trial has been registered with the Australian New Zealand Clinical Trials Registry (ANZCTR), its trial ID is ACTRN12613001177741 .

Four-dimensional computed tomography based respiratory-gated radiotherapy with respiratory guidance system: analysis of respiratory signals and dosimetric comparison

PURPOSE

To investigate the effectiveness of respiratory guidance system in 4-dimensional computed tomography (4 DCT) based respiratory-gated radiation therapy (RGRT) by comparing respiratory signals and dosimetric analysis of treatment plans.

METHODS

The respiratory amplitude and period of the free, the audio device-guided, and the complex system-guided breathing were evaluated in eleven patients with lung or liver cancers. The dosimetric parameters were assessed by comparing free breathing CT plan and 4 DCT-based 30-70% maximal intensity projection (MIP) plan.

RESULTS

The use of complex system-guided breathing showed significantly less variation in respiratory amplitude and period compared to the free or audio-guided breathing regarding the root mean square errors (RMSE) of full inspiration (P = 0.031), full expiration (P = 0.007), and period (P = 0.007). The dosimetric parameters including V(5 Gy), V(10 Gy), V(20 Gy), V(30 Gy), V(40 Gy), and V(50 Gy) of normal liver or lung in 4 DCT MIP plan were superior over free breathing CT plan.

CONCLUSIONS

The reproducibility and regularity of respiratory amplitude and period were significantly improved with the complex system-guided breathing compared to the free or the audio-guided breathing. In addition, the treatment plan based on the 4D CT-based MIP images acquired with the complex system guided breathing showed better normal tissue sparing than that on the free breathing CT.

Robust fluoroscopic tracking of fiducial markers: exploiting the spatial constraints

Two new fluoroscopic fiducial tracking methods that exploit the spatial relationship among the multiple implanted fiducial to achieve fast, accurate and robust tracking are proposed in this paper. The spatial relationship between multiple implanted markers are modeled as Gaussian distributions of their pairwise distances over time. The means and standard deviations of these distances are learned from training sequences, and pairwise distances that deviate from these learned distributions are assigned a low spatial matching score. The spatial constraints are incorporated in two different algorithms: a stochastic tracking method and a detection based method. In the stochastic method, hypotheses of the 'true' fiducial position are sampled from a pre-trained respiration motion model. Each hypothesis is assigned an importance value based on image matching score and spatial matching score. Learning the parameters of the motion model is needed in addition to learning the distribution parameters of the pairwise distances in the proposed stochastic tracking approach. In the detection based method, a set of possible marker locations are identified by using a template matching based fiducial detector. The best location is obtained by optimizing the image matching score and spatial matching score through non-serial dynamic programming. In this detection based approach, there is no need to learn the respiration motion model. The two proposed algorithms are compared with a recent work using a multiple hypothesis tracking (MHT) algorithm which is denoted by MHT, Tang et al (2007 Phys. Med. Biol. 52 4081-98). Phantom experiments were performed using fluoroscopic videos captured with known motion relative to an anthropomorphic phantom. The patient experiments were performed using a retrospective study of 16 fluoroscopic videos of liver cancer patients with implanted fiducials. For the motion phantom data sets, the detection based approach has the smallest tracking error (μerr: 0.78-1.74 mm, σerr: 0.39-1.16 mm) for the images taken at low exposure (50 mAs). At higher exposure (500 mAs), the stochastic method gave the best performance (μerr: ∼0.39 mm, σerr: ∼0.27 mm). In contrast, the tracker (MHT) that does not model the spatial constraints only performs well when there is no occluded fiducial. With the RANDO phantom data, both of our proposed methods performed well and have the mean tracking errors around ∼1.8 mm with the standard deviations ∼0.93 mm at 100 mAs and ∼0.91 mm with 0.88 mm standard deviation at 500 mAs. The MHT tracker has the largest tracking errors with mean ∼4.8 mm) and standard deviation ∼2.4 mm in both sessions with the Rondo phantom data. On the patient data sets, the detection based method gave the smallest error (μerr: 0.39 mm, σerr: ∼0.19 mm). The stochastic method performed well (μerr: ∼0.58 mm, σerr: ∼0.39 mm) when the patient breathed consistently, the accuracy dropped to (μerr: ∼1.55 mm) when the patient breathed differently across sessions.

The impact of audio-visual biofeedback on 4D PET images: results of a phantom study

PURPOSE

Irregular breathing causes motion blurring artifacts in 4D PET images. Audiovisual (AV) biofeedback has been demonstrated to improve breathing regularity. To investigate the hypothesis that, compared with free breathing, motion blurring artifacts are reduced with AV biofeedback, the authors performed the first experimental phantom-based quantification of the impact of AV biofeedback on 4D PET image quality.

METHODS

The authors acquired 4D PET dynamic phantom images with AV biofeedback and free breathing by moving a phantom programmed with AV biofeedback trained and free breathing respiratory traces of ten healthy subjects. The authors also acquired stationary phantom images for reference. The phantom was cylindrical with six hollow sphere targets (10, 13, 17, 22, 28, and 37 mm in diameter). The authors quantified motion blurring using the target diameter, Dice coefficient and recovery coefficient (RC) metrics to estimate the effect of motion.

RESULTS

The average increase in target diameter for AV biofeedback was 0.6±1.6mm (4.7±13%), which was significantly (p<0.001) smaller than for free breathing 1.3±2.2mm (9.1±19%). The average Dice coefficient for AV biofeedback was 0.90±0.07, which was significantly (p<0.001) larger than for free breathing (0.88±0.10). The RCs for AV biofeedback were consistently higher than those for free breathing and comparable to those for stationary targets. However, for RCs the impact of target sizes was more dominant than that of motion. In addition, the authors observed large variations in the results with respect to target sizes, subject traces and respiratory bins due to partial volume effects and respiratory motion irregularity.

CONCLUSIONS

The results indicate that AV biofeedback can significantly reduce motion blurring artifacts and may facilitate improved identification and localization of lung tumors in 4D PET images. The results justify proceeding with clinical studies to quantify the impact of AV biofeedback on 4D PET image quality and tumor detectability.

Quasi-breath-hold technique using personalized audio-visual biofeedback for respiratory motion management in radiotherapy

PURPOSE

To introduce a respiratory motion management technique, so called quasi-breath-hold (QBH) technique and evaluate its feasibility. As a hybrid technique combining free-breathing-based gating (denoted as gating for convenience) and breath-hold (BH), the QBH is designed to overcome typical limitations existing in either one such as phase-shift, residual motion, complexity, and discomfort.

METHODS

The QBH is realized using an audio-visual biofeedback system (AVBFS) and a respiratory motion management program (RMMP). The AVBFS, consisting of two infra-red stereo cameras and a head mounted display, monitors respiratory motion and provides dynamic feedback to patients. The RMMP establishes a personalized respiration model based on deep free breathing. The model is further processed to generate a QBH model by inserting a short breath-hold period into the end point of the-end-of-expiration phase. Then the patient is guided to follow the QBH model through the AVBFS. A simulation study with ten volunteers was performed to evaluate the feasibility of the proposed technique. In the simulation, an in-house developed macro program automatically controlled the QBH procedure to virtually deliver an intensity modulated radiation therapy (IMRT) plan. For each volunteer subject, three QBH maneuvers with different breath-hold times of 3, 5, and 7s (denoted as QBH3s, QBH5s, and QBH7s, respectively) and a conventional gating maneuver with 30% duty cycle (for comparison purpose) were applied. External respiration motion signals obtained during the gating window were analyzed to obtain mean absolute error (MAE) between the measured and guiding curve, mean absolute deviation (MAD) of the measured curve, and an inverse uncertainty time histogram (IUTH).

RESULTS

Every volunteer successfully performed all of the four maneuvers (1 gating and 3 QBH patterns). The average treatment times were 466.8, 452.3, and 430.8 s for the QBH3s, QBH5s, and QBH7s, respectively, compared to 530.4 s for the gating technique. The mean absolute errors between measured and guiding curve during the gating window were 0.9 +/- 0.7, 0.8 +/- 0.6, 0.7 +/- 0.6, and 0.6 +/- 0.7 mm for the gating, QBH3s, QBH5s, and QBH7s, respectively. The mean absolute deviations of the measured curve during the gating window were 0.7 +/- 0.7, 0.5 +/- 0.5, 0.5 +/- 0.4, and 0.5 +/- 0.6 mm for the gating, QBH3s, QBH5s, and QBH7s, respectively. In the analysis of the IUTH during the gating window, the QBH simulations showed similar (QBH3s) or less (QBH5s and QBH7s) motion uncertainties compared to the gating simulation.

CONCLUSIONS

The proposed QBH technique with personalized audio-visual biofeedback was feasible for respiratory motion management. It showed equivalent or less motion uncertainty and shorter treatment time than the conventional free-breathing-based gating technique did. The technique is expected to optimally compromise between patient comfort and treatment efficiency.

Fluoroscopy as a surrogate for lung tumour motion

OBJECTIVES

The aim of this article was to test a simple approach of using pixel density values from fluoroscopy images to enable gated radiotherapy.

METHODS

Anterior and lateral (LAT) from images were acquired from 18 patients referred for radical radiotherapy for non-small cell lung cancer for a period of 30-45 s. The amplitude of movement and the number of breathing cycles were determined in the right-left (RL) and superoinferior (SI) directions on the anterior images and the anteroposterior (AP) and SI directions on the lateral images. The breathing pattern was created by analysing the variation in a summation of pixel values within a defined area. The greatest and lowest 30% of pixel values were set as the duty cycle to represent inhale and exhale amplitude-based gating.

RESULTS

A median of eight breathing cycles was captured for each patient with a duration of 2.2-11.8 s per cycle. The mean (range) motion was 4.7 mm (2.4-5.8 mm), 7.2 mm (2.3-17.6 mm), 6.2 mm (1.9-13.8 mm) and 4.8 mm (2.4-11.3 mm) in the RL, SI (AP), SI (LAT) and AP directions, respectively. A total of 10/14 anterior videos and 7/11 LAT videos had correlations between motion and breathing of >0.6. Margins of 5.5 mm, 6.8 mm and 6.6 mm in the RL, SI and AP directions, respectively, were determined to gate in exhale. The benefit of gating was greater when motion was >5 mm.

CONCLUSION

The simple approach of using pixel density values from fluoroscopy images to distinguish inhale from exhale and enable gating was successfully applied in all patients. This technique may potentially provide an accurate surrogate for tumour position.

Technical advances of radiation therapy for thymic malignancies

Radiation therapy often plays a critical role in the treatment of thymic malignancies. However, because of the location of these tumors, historically patients have been at a significant risk for radiation-related toxicity such as pericardial effusions, radiation pneumonitis, long-term pulmonary fibrosis, and occasional long-term esophageal stricture, particularly for unresectable thymoma. Recent advancements in technology have provided the treating radiation oncologist with the ability to more accurately target the region at risk while sparing normal structures. In this review, we provide an overview of key advances in radiation techniques for thymoma over the past two decades. These techniques include 3D conformal therapy, intensity-modulated radiation therapy, 4D treatment planning, adaptive radiation therapy, and proton therapy. Each advancement has brought with it unique advantages in maintaining long-term disease control while improving quality of life in this manageable disease.

Commissioning and quality assurance for a respiratory training system based on audiovisual biofeedback

A respiratory training system based on audiovisual biofeedback has been implemented at our institution. It is intended to improve patients' respiratory regularity during four-dimensional (4D) computed tomography (CT) image acquisition. The purpose is to help eliminate the artifacts in 4D-CT images caused by irregular breathing, as well as improve delivery efficiency during treatment, where respiratory irregularity is a concern. This article describes the commissioning and quality assurance (QA) procedures developed for this peripheral respiratory training system, the Stanford Respiratory Training (START) system. Using the Varian real-time position management system for the respiratory signal input, the START software was commissioned and able to acquire sample respiratory traces, create a patient-specific guiding waveform, and generate audiovisual signals for improving respiratory regularity. Routine QA tests that include hardware maintenance, visual guiding-waveform creation, auditory sounds synchronization, and feedback assessment, have been developed for the START system. The QA procedures developed here for the START system could be easily adapted to other respiratory training systems based on audiovisual biofeedback.

Can audio coached 4D CT emulate free breathing during the treatment course?

BACKGROUND

The image quality of 4DCT depends on breathing regularity. Respiratory audio coaching may improve regularity and reduce motion artefacts. We question the safety of coached planning 4DCT without coaching during treatment. We investigated the possibility of coaching to a more stable breathing without changing the breathing amplitude. The interfraction variation of the breathing cycle amplitude in free and coached breathing was studied as well as the possible impact of fatigue on longer coaching sessions.

METHODS

Thirteen volunteers completed respiratory audio coaching on 3 days within a 2 week period. An external marker system monitoring the motion of the thoraco-abdominal wall was used to track the respiration. On all days, free breathing and two coached breathing curves were recorded. We assumed that free versus coached breathing from day 1 (reference session) simulated breathing during an uncoached versus coached planning 4DCT, respectively, and compared the mean breathing cycle amplitude to the free versus coached breathing from day 2 and 3 simulating free versus coached breathing during treatment.

RESULTS

For most volunteers it was impossible to apply coaching without changes in breathing cycle amplitude. No significant decrease in standard deviation of breathing cycle amplitude distribution was seen. Generally it was not possible to predict the breathing cycle amplitude and its variation the following days based on the breathing in the reference session irrespective of coaching or free breathing. We found a significant tendency towards an increased breathing cycle amplitude variation with the duration of the coaching session.

CONCLUSION

These results suggest that large interfraction variation is present in breathing amplitude irrespective of coaching, leading to the suggestion of daily image guidance for verification of respiratory pattern and tumour related motion. Until further investigated it is not recommendable to use coached 4DCT for planning of a free breathing treatment course.

Delivery of four-dimensional radiotherapy with TrackBeam for moving target using an AccuKnife dual-layer MLC: dynamic phantoms study

Respiratory motion has been considered a clinical challenge for lung tumor treatments due to target motion. In this study, we aimed to perform an experimental evaluation based on dynamic phantoms using MLC‐based beam tracking. TrackBeam, a prototype real‐time beam tracking system, has been assembled and evaluated in our clinic. TrackBeam includes an orthogonal dual‐layer micro multileaf collimator (DmMLC), an on‐board mega‐voltage (MV) portal imaging device, and an image processing workstation. With a fiducial marker implanted in a moving target, the onboard imaging device can capture the motion. The TrackBeam workstation processes the online MV fluence and detects and predicts tumor motion. The DmMLC system then dynamically repositions each leaf to form new beam apertures based on the movement of the fiducial marker. In this study, a dynamic phantom was used for the measurements. Three delivery patterns were evaluated for dosimetric verification based on radiographic films: no‐motion lung‐tumor (NMLT), three‐dimensional conformal radiotherapy (3DCRT), and four‐dimensional tracking radiotherapy (4DTRT). The displacement between the DmMLC dynamic beam isocenter and the fiducial marker was in the range of 0.5 mm to 1.5 mm. With radiographic film analysis, the planar dose histogram difference between 3DCRT and NLMT was 48.6% and 38.0% with dose difference tolerances of 10% and 20%, respectively. The planar dose histogram difference between 4DTRT and NLMT was 15.2% and 4.0%, respectively. Based on dose volume histogram analysis, 4DTRT reduces the mean dose for the surrounding tissue from 35.4 Gy to 19.5 Gy, reduces the relative volume of the total lung from 28% to 18% at V20, and reduces the amount of dose from 35.2 Gy to 15.0 Gy at D20. The experimental results show that MLC‐based real‐time beam tracking delivery provides a potential solution to respiratory motion control. Beam tracking delivers a highly conformal dose to a moving target, while sparing surrounding normal tissue.

PACS number: 87.55.de, 87.55.ne, 87.56.nk

Reproducibility of interfraction lung motion probability distribution function using dynamic MRI: statistical analysis

PURPOSE

To investigate the statistical reproducibility of craniocaudal probability distribution function (PDF) of interfraction lung motion using dynamic magnetic resonance imaging.

METHODS AND MATERIALS

A total of 17 subjects, 9 healthy volunteers and 8 lung tumor patients, underwent two to three continuous 300-s magnetic resonance imaging scans in the sagittal plane, repeated 2 weeks apart. Three pulmonary vessels from different lung regions (upper, middle, and lower) in the healthy subjects and lung tumor patients were selected for tracking, and the displacement PDF reproducibility was evaluated as a function of scan time and frame rate.

RESULTS

For both healthy subjects and patients, the PDF reproducibility improved with increased scan time and converged to an equilibrium state during the 300-s scan. The PDF reproducibility at 300 s (mean, 0.86; range, 0.70-0.96) were significantly (p < 0.001) increased compared with those at 5 s (mean, 0.65; range, 0.25-0.79). PDF reproducibility showed less sensitivity to imaging frame rates that were >2 frames/s.

CONCLUSION

A statistically significant improvement in PDF reproducibility was observed with a prolonged scan time among the 17 participants. The confirmation of PDF reproducibility over times much shorter than stereotactic body radiotherapy delivery duration is a vital part of the initial validation process of probability-based treatment planning for stereotactic body radiotherapy for lung cancer.

On the accuracy of a moving average algorithm for target tracking during radiation therapy treatment delivery

Real-time tumor targeting involves the continuous realignment of the radiation beam with the tumor. Real-time tumor targeting offers several advantages such as improved accuracy of tumor treatment and reduced dose to surrounding tissue. Current limitations to this technique include mechanical motion constraints. The purpose of this study was to investigate an alternative treatment scenario using a moving average algorithm. The algorithm, using a suitable averaging period, accounts for variations in the average tumor position, but respiratory induced target position variations about this average are ignored during delivery and can be treated as a random error during planning. In order to test the method a comparison between five different treatment techniques was performed: (1) moving average algorithm, (2) real-time motion tracking, (3) respiration motion gating (at both inhale and exhale), (4) moving average gating (at both inhale and exhale) and (5) static beam delivery. Two data sets were used for the purpose of this analysis: (a) external respiratory-motion traces using different coaching techniques included 331 respiration motion traces from 24 lung-cancer patients acquired using three different breathing types [free breathing (FB), audio coaching (A) and audio-visual biofeedback (AV)]; (b) 3D tumor motion included implanted fiducial motion data for over 160 treatment fractions for 46 thoracic and abdominal cancer patients obtained from the Cyberknife Synchrony. The metrics used for comparison were the group systematic error (M), the standard deviation (SD) of the systematic error (sigma) and the root mean square of the random error (sigma). Margins were calculated using the formula by Stroom et al. [Int. J. Radiat. Oncol., Biol., Phys. 43(4), 905-919 (1999)]: 2sigma + 0.7sigma. The resultant calculations for implanted fiducial motion traces (all values in cm) show that M and sigma are negligible for moving average algorithm, moving average gating, and real-time tracking (i.e., M and sigma = 0 cm) compared to static beam (M = 0.02 cm and sigma = 0.16 cm) or gated beam delivery (M = -0.05 and 0.16 cm at both exhale and inhale, respectively, and sigma = 0.17 and 0.26 cm at both exhale and inhale, respectively). Moving average algorithm sigma = 0.22 cm has a slightly lower random error than static beam delivery sigma = 0.24 cm, though gating, moving average gating, and real-time tracking have much lower random error values for implanted fiducial motion. Similar trends were also observed for the results using the external respiratory motion data. Moving average algorithm delivery significantly reduces M and sigma compared with static beam delivery. The moving average algorithm removes the nonstationary part of the respiration motion which is also achieved by AV, and thus the addition of the moving average algorithm shows little improvement with AV. Overall, a moving average algorithm shows margin reduction compared with gating and static beam delivery, and may have some mechanical advantages over real-time tracking when the beam is aligned with the target and patient compliance advantages over real-time tracking when the target is aligned to the beam.

Tumor trailing strategy for intensity-modulated radiation therapy of moving targets

Internal organ motion during the course of radiation therapy of cancer affects the distribution of the delivered dose and, generally, reduces its conformality to the targeted volume. Previously proposed approaches aimed at mitigating the effect of internal motion in intensity-modulated radiation therapy (IMRT) included expansion of the target margins, motion-correlated delivery (e.g., respiratory gating, tumor tracking), and adaptive treatment plan optimization employing a probabilistic description of motion. We describe and test the tumor trailing strategy, which utilizes the synergy of motion-adaptive treatment planning and delivery methods. We regard the (rigid) target motion as a superposition of a relatively fast cyclic component (e.g., respiratory) and slow aperiodic trends (e.g., the drift of exhalation baseline). In the trailing approach, these two components of motion are decoupled and dealt with separately. Real-time motion monitoring is employed to identify the "slow" shifts, which are then corrected by applying setup adjustments. The delivery does not track the target position exactly, but trails the systematic trend due to the delay between the time a shift occurs, is reliably detected, and, subsequently, corrected. The "fast" cyclic motion is accounted for with a robust motion-adaptive treatment planning, which allows for variability in motion parameters (e.g., mean and extrema of the tidal volume, variable period of respiration, and expiratory duration). Motion-surrogate data from gated IMRT treatments were used to provide probability distribution data for motion-adaptive planning and to test algorithms that identified systematic trends in the character of motion. Sample IMRT fields were delivered on a clinical linear accelerator to a programmable moving phantom. Dose measurements were performed with a commercial two-dimensional ion-chamber array. The results indicate that by reducing intrafractional motion variability, the trailing strategy enhances relevance and applicability of motion-adaptive planning methods, and improves conformality of the delivered dose to the target in the presence of irregular motion. Trailing strategy can be applied to respiratory-gated treatments, in which the correction for the slow motion can increase the duty cycle, while robust probabilistic planning can improve management of the residual motion within the gate window. Similarly, trailing may improve the dose conformality in treatment of patients who exhibit detectable target motion of low amplitude, which is considered insufficient to provide a clinical indication for the use of respiratory-gated treatment (e.g., peak-to-peak motion of less than 10 mm). The mechanical limitations of implementing tumor trailing are less rigorous than those of real-time tracking, and the same technology could be used for both.

Image-guided radiotherapy for liver cancer using respiratory-correlated computed tomography and cone-beam computed tomography

PURPOSE

To evaluate a novel four-dimensional (4D) image-guided radiotherapy (IGRT) technique in stereotactic body RT for liver tumors.

METHODS AND MATERIALS

For 11 patients with 13 intrahepatic tumors, a respiratory-correlated 4D computed tomography (CT) scan was acquired at treatment planning. The target was defined using CT series reconstructed at end-inhalation and end-exhalation. The liver was delineated on these two CT series and served as a reference for image guidance. A cone-beam CT scan was acquired after patient positioning; the blurred diaphragm dome was interpreted as a probability density function showing the motion range of the liver. Manual contour matching of the liver structures from the planning 4D CT scan with the cone-beam CT scan was performed. Inter- and intrafractional uncertainties of target position and motion range were evaluated, and interobserver variability of the 4D-IGRT technique was tested.

RESULTS

The workflow of 4D-IGRT was successfully practiced in all patients. The absolute error in the liver position and error in relation to the bony anatomy was 8 +/- 4 mm and 5 +/- 2 mm (three-dimensional vector), respectively. Margins of 4-6 mm were calculated for compensation of the intrafractional drifts of the liver. The motion range of the diaphragm dome was reproducible within 5 mm for 11 of 13 lesions, and the interobserver variability of the 4D-IGRT technique was small (standard deviation, 1.5 mm). In 4 patients, the position of the intrahepatic lesion was directly verified using a mobile in-room CT scanner after application of intravenous contrast.

CONCLUSION

The results of our study have shown that 4D image guidance using liver contour matching between respiratory-correlated CT and cone-beam CT scans increased the accuracy compared with stereotactic positioning and compared with IGRT without consideration of breathing motion.

Development and preliminary evaluation of a prototype audiovisual biofeedback device incorporating a patient-specific guiding waveform

The aim of this research was to investigate the effectiveness of a novel audio-visual biofeedback respiratory training tool to reduce respiratory irregularity. The audiovisual biofeedback system acquires sample respiratory waveforms of a particular patient and computes a patient-specific waveform to guide the patient's subsequent breathing. Two visual feedback models with different displays and cognitive loads were investigated: a bar model and a wave model. The audio instructions were ascending/descending musical tones played at inhale and exhale respectively to assist in maintaining the breathing period. Free-breathing, bar model and wave model training was performed on ten volunteers for 5 min for three repeat sessions. A total of 90 respiratory waveforms were acquired. It was found that the bar model was superior to free breathing with overall rms displacement variations of 0.10 and 0.16 cm, respectively, and rms period variations of 0.77 and 0.33 s, respectively. The wave model was superior to the bar model and free breathing for all volunteers, with an overall rms displacement of 0.08 cm and rms periods of 0.2 s. The reduction in the displacement and period variations for the bar model compared with free breathing was statistically significant (p = 0.005 and 0.002, respectively); the wave model was significantly better than the bar model (p = 0.006 and 0.005, respectively). Audiovisual biofeedback with a patient-specific guiding waveform significantly reduces variations in breathing. The wave model approach reduces cycle-to-cycle variations in displacement by greater than 50% and variations in period by over 70% compared with free breathing. The planned application of this device is anatomic and functional imaging procedures and radiation therapy delivery.

Effect of novel amplitude/phase binning algorithm on commercial four-dimensional computed tomography quality

PURPOSE

Respiratory motion is a significant source of anatomic uncertainty in radiotherapy planning and can result in errors of portal size and the subsequent radiation dose. Although four-dimensional computed tomography allows for more accurate analysis of the respiratory cycle, breathing irregularities during data acquisition can cause considerable image distortions. The aim of this study was to examine the effect of respiratory irregularities on four-dimensional computed tomography, and to evaluate a novel image reconstruction algorithm using percentile-based tagging of the respiratory cycle.

METHODS AND MATERIALS

Respiratory-correlated helical computed tomography scans were acquired for 11 consecutive patients. The inspiration and expiration data sets were reconstructed using the default phase-based method, as well as a novel respiration percentile-based method with patient-specific metrics to define the ranges of the reconstruction. The image output was analyzed in a blinded fashion for the phase- and percentile-based reconstructions to determine the prevalence and severity of the image artifacts.

RESULTS

The percentile-based algorithm resulted in a significant reduction in artifact severity compared with the phase-based algorithm, although the overall artifact prevalence did not differ between the two algorithms. The magnitude of differences in respiratory tag placement between the phase- and percentile-based algorithms correlated with the presence of image artifacts.

CONCLUSION

The results of our study have indicated that our novel four-dimensional computed tomography reconstruction method could be useful in detecting clinically relevant image distortions that might otherwise go unnoticed and to reduce the image distortion associated with some respiratory irregularities. Additional work is necessary to assess the clinical impact on areas of possible irregular breathing.

Influence of retrospective sorting on image quality in respiratory correlated computed tomography

PURPOSE

To evaluate the influence of retrospective sorting on image quality in four-dimensional respiratory correlated CT.

MATERIALS AND METHODS

Twelve patients with intrapulmonary tumors were examined using a 24-slice CT-scanner in helical mode. Images were reconstructed after retrospective sorting based on five algorithms: amplitude-based sorting with definition of peak-exhalation and peak-inhalation separately/locally for all breathing cycles (LAS) and globally for the time of image acquisition (GAS). Drifts of the breathing signal were corrected in dc-GAS. In phase-based (PS) and cycle-based (CS) algorithm the projections were sorted relative to time. Motion artifacts were scored by a radiologist. The tumor volumes were measured using automatic image segmentation.

RESULTS

Averaged over all breathing phases, LAS and PS achieved significantly improved image quality and lowest tumor volume variability compared to GAS, dc-GAS and CS. Imaging redundancy of 5s was not sufficient for GAS and dc-GAS: missing corresponding amplitude positions in one or several breathing cycles resulted in incomplete reconstruction of peak-ventilation images in 11/12 and 10/12 patients with GAS and dc-GAS, respectively. Limiting the analysis to mid-ventilation phases showed GAS and dc-GAS as the most reliable algorithms.

CONCLUSIONS

LAS and PS are suggested as a compromise between image quality and radiation dose.

Geometric uncertainty of 2D projection imaging in monitoring 3D tumor motion

The purpose of this study was to investigate the accuracy of two-dimensional (2D) projection imaging methods in three-dimensional (3D) tumor motion monitoring. Many commercial linear accelerator types have projection imaging capabilities, and tumor motion monitoring is useful for motion inclusive, respiratory gated or tumor tracking strategies. Since 2D projection imaging is limited in its ability to resolve the motion along the imaging beam axis, there is unresolved motion when monitoring 3D tumor motion. From the 3D tumor motion data of 160 treatment fractions for 46 thoracic and abdominal cancer patients, the unresolved motion due to the geometric limitation of 2D projection imaging was calculated as displacement in the imaging beam axis for different beam angles and time intervals. The geometric uncertainty to monitor 3D motion caused by the unresolved motion of 2D imaging was quantified using the root-mean-square (rms) metric. Geometric uncertainty showed interfractional and intrafractional variation. Patient-to-patient variation was much more significant than variation for different time intervals. For the patient cohort studied, as the time intervals increase, the rms, minimum and maximum values of the rms uncertainty show decreasing tendencies for the lung patients but increasing for the liver and retroperitoneal patients, which could be attributed to patient relaxation. Geometric uncertainty was smaller for coplanar treatments than non-coplanar treatments, as superior-inferior (SI) tumor motion, the predominant motion from patient respiration, could be always resolved for coplanar treatments. Overall rms of the rms uncertainty was 0.13 cm for all treatment fractions and 0.18 cm for the treatment fractions whose average breathing peak-trough ranges were more than 0.5 cm. The geometric uncertainty for 2D imaging varies depending on the tumor site, tumor motion range, time interval and beam angle as well as between patients, between fractions and within a fraction.