Breathing-synchronized radiotherapy program at the University of California Davis Cancer Center

A feasibility study of tumor motion monitoring for SBRT of lung cancer based on 3D point cloud detection and stacking ensemble learning

PURPOSE

To construct a tumor motion monitoring model for stereotactic body radiation therapy (SBRT) of lung cancer from a feasibility perspective.

METHODS

A total of 32 treatment plans for 22 patients were collected, whose planning CT and the centroid position of the planning target volume (PTV) were used as the reference. Images of different respiratory phases in 4DCT were acquired to redefine the targets and obtain the floating PTV centroid positions. In accordance with the planning CT and CBCT registration parameters, data augmentation was accomplished, yielding 2130 experimental recordings for analysis. We employed a stacking multi-learning ensemble approach to fit the 3D point cloud variations of body surface and the change of target position to construct the tumor motion monitoring model, and the prediction accuracy was assess using root mean squared error (RMSE) and R-Square (R2).

RESULTS

The prediction displacement of the stacking ensemble model shows a high degree of agreement with the reference value in each direction. In the first layer of model, the X direction (RMSE =0.019 ∼ 0.145mm, R2 =0.9793∼0.9996) and the Z direction (RMSE = 0.051 ∼ 0.168 mm, R2 = 0.9736∼0.9976) show the best results, while the Y direction ranked behind (RMSE = 0.088 ∼ 0.224 mm, R2 = 0.9553∼ 0.9933). The second layer model summarizes the advantages of unit models of first layer, and RMSE of 0.015 mm, 0.083 mm, 0.041 mm, and R2 of 0.9998, 0.9931, 0.9984 respectively for X, Y, Z were obtained.

CONCLUSIONS

The tumor motion monitoring method for SBRT of lung cancer has potential application of non-ionization, non-invasive, markerless, and real-time.

The first clinical implementation of real-time 6 degree-of-freedom image-guided radiotherapy for liver SABR patients

PURPOSE

Multiple survey results have identified a demand for improved motion management for liver cancer IGRT. Until now, real-time IGRT for liver has been the domain of dedicated and expensive cancer radiotherapy systems. The purpose of this study was to clinically implement and characterise the performance of a novel real-time 6 degree-of-freedom (DoF) IGRT system, Kilovoltage Intrafraction Monitoring (KIM) for liver SABR patients.

METHODS/MATERIALS

The KIM technology segmented gold fiducial markers in intra-fraction x-ray images as a surrogate for the liver tumour and converted the 2D segmented marker positions into a real-time 6DoF tumour position. Fifteen liver SABR patients were recruited and treated with KIM combined with external surrogate guidance at three radiotherapy centres in the TROG 17.03 LARK multi-institutional prospective clinical trial. Patients were either treated in breath-hold or in free breathing using the gating method. The KIM localisation accuracy and dosimetric accuracy achieved with KIM + external surrogate were measured and the results were compared to those with the estimated external surrogate alone.

RESULTS

The KIM localisation accuracy was 0.2±0.9 mm (left-right), 0.3±0.6 mm (superior-inferior) and 1.2±0.8 mm (anterior-posterior) for translations and -0.1◦±0.8◦ (left-right), 0.6◦±1.2◦ (superior-inferior) and 0.1◦±0.9◦ (anterior-posterior) for rotations. The cumulative dose to the GTV with KIM + external surrogate was always within 5% of the plan. In 2 out of 15 patients, >5% dose error would have occurred to the GTV and an organ-at-risk with external surrogate alone.

CONCLUSIONS

This work demonstrates that real-time 6DoF IGRT for liver can be implemented on standard radiotherapy systems to improve treatment accuracy and safety. The observations made during the treatments highlight the potential false assurance of using traditional external surrogates to assess tumour motion in patients and the need for ongoing improvement of IGRT technologies.

Deep inspiration breath hold: dosimetric benefits to decrease cardiac dose during postoperative radiation therapy for breast cancer patients

Background

Postoperative radiation therapy (RT) is the standard treatment for almost all patients diagnosed with breast cancer. Even with modern RT techniques, parts of the heart may still receive higher doses than those recommended by clinically validated dose limit restrictions, especially when the left breast is irradiated. Deep inspiration breath hold (DIBH) may reduce irradiated cardiac volume compared to free breathing (FB) treatment. This study aimed to evaluate the dosimetric impact on the heart and left anterior descending coronary artery (LAD) in FB and DIBH RT planning in patients with left breast cancer.

Materials and methods

A retrospective cohort study of women diagnosed with left-sided breast cancer submitted to breast surgery followed by postoperative RT from 2015 to 2019. All patients were planned with FB and DIBH and hypofractionated dose prescription (40.05 Gy in 15 fractions).

Results

68 patients were included in the study. For the coverage of the planned target volume evaluation [planning target volume (PTV) eval] there was no significant difference between the DIBH versus FB planning. For the heart and LAD parameters, all constraints evaluated favored DIBH planning, with statistical significance. Regarding the heart, median V16.8 Gy was 2.56% in FB vs. 0% in DIBH (p < 0.001); median V8.8 Gy was 3.47% in FB vs. 0% in DIBH (p < 0.001) and the median of mean heart dose was 1.97 Gy in FB vs. 0.92 Gy in DIBH (p < 0.001). For the LAD constraints D2% < 42 Gy, the median dose was 34.87 Gy in FB versus 5.8 Gy in DIBH (p < 0.001); V16.8 Gy < 10%, the median was 15.87% in FB versus 0% in DIBH (p < 0.001) and the median of mean LAD dose was 8.13Gy in FB versus 2.92Gy in DIBH (p < 0.001).

Conclusions

The DIBH technique has consistently demonstrated a significant dose reduction in the heart and LAD in all evaluated constraints, while keeping the same dose coverage in the PTV eval.

View-sharing for 4D magnetic resonance imaging with randomized projection-encoding enables improvements of respiratory motion imaging for treatment planning in abdominothoracic radiotherapy

Background and Purpose

The accuracy and precision of radiation therapy are dependent on the characterization of organ-at-risk and target motion. This work aims to demonstrate a 4D magnetic resonance imaging (MRI) method for improving spatial and temporal resolution in respiratory motion imaging for treatment planning in abdominothoracic radiotherapy.

Materials and Methods

The spatial and temporal resolution of phase-resolved respiratory imaging is improved by considering a novel sampling function based on quasi-random projection-encoding and peripheral k-space view-sharing. The respiratory signal is determined directly from k-space, obviating the need for an external surrogate marker. The average breathing curve is used to optimize spatial resolution and temporal blurring by limiting the extent of data sharing in the Fourier domain. Improvements in image quality are characterized by evaluating changes in signal-to-noise ratio (SNR), resolution, target detection, and level of artifact. The method is validated in simulations, in a dynamic phantom, and in-vivo imaging.

Results

Sharing of high-frequency k-space data, driven by the average breathing curve, improves spatial resolution and reduces artifacts. Although equal sharing of k-space data improves resolution and SNR in stationary features, phases with large temporal changes accumulate significant artifacts due to averaging of high frequency features. In the absence of view-sharing, no averaging and detection artifacts are observed while spatial resolution is degraded.

Conclusions

The use of a quasi-random sampling function, with view-sharing driven by the average breathing curve, provides a feasible method for self-navigated 4D-MRI at improved spatial resolution.

Predicting respiratory motion using a novel patient specific dual deep recurrent neural networks

Real-time tracking of a target volume is a promising solution for reducing the planning margins and both dosimetric and geometric uncertainties in the treatment of thoracic and upper-abdomen cancers. Respiratory motion prediction is an integral part of real-time tracking to compensate for the latency of tracking systems. The purpose of this work was to develop a novel method for accurate respiratory motion prediction using dual deep recurrent neural networks (RNNs). The respiratory motion data of 111 patients were used to train and evaluate the method. For each patient, two models (Network1 and Network2) were trained on 80% of the respiratory wave, and the remaining 20% was used for evaluation. The first network (Network 1) is a "coarse resolution" prediction of future points and second network (Network 2) provides a "fine resolution" prediction to interpolate between the future predictions. The performance of the method was tested using two types of RNN algorithms : Long Short-Term Memory (LSTM) and Gated Recurrent Unit (GRU). The accuracy of each model was evaluated using the root mean square error (RMSE) and mean absolute error (MAE). Overall, the RNN model with GRU- function had better accuracy than the RNN model with LSTM-function (RMSE (mm): 0.4±0.2 vs. 0.6±0.3; MAE (mm): 0.4±0.2 vs. 0.6±0.2). The GRU was able to predict the respiratory motion accurately (<1 mm) up to the latency period of 440 ms, and LSTM's accuracy was acceptable only up to 240 ms. The proposed method using GRU function can be used for respiratory-motion prediction up to a latency period of 440 ms.

Heart Sparing Radiotherapy Techniques in Breast Cancer: A Focus on Deep Inspiration Breath Hold

Adjuvant radiation therapy is a critical component of breast cancer management. However, when breast cancer patients receive incidental radiation to the heart, there is an increased risk of cardiac disease and mortality. This is most common for patients with left-sided breast cancers and those receiving nodal irradiation as part of treatment. The overall risk of cardiac toxicity increases 4–16% with each Gray increase in mean heart radiation dose, with data suggesting that no lower limit exists which would eliminate cardiac risk entirely. Radiation techniques have improved over time, leading to lower cardiac radiation exposure than in the past. This decline is expected to reduce the incidence of radiation-induced heart dysfunction in patients. Deep inspiration breath hold (DIBH) is one such technique that was developed to reduce the risk of cardiac death and coronary events. DIBH is a non-invasive approach that capitalizes on the natural physiology of the respiratory cycle to increase the distance between the heart and the therapeutic target throughout the course of radiation therapy. DIBH has been shown to decrease the mean incidental radiation doses to the heart and left anterior descending coronary artery by approximately 20–70%. In this review, we summarize different techniques for DIBH and discuss recent data on this technique.

Anesthetic management of precise radiotherapy under apnea-like condition

Objective

To study the safety and feasibility of implementation of precise radiotherapy with inducement of an apnea-like condition.

Methods

Two patients with lung tumors underwent precise radiotherapy under an apnea-like condition. The apnea-like condition was induced 11 times between the two patients for tumor localization and treatment. The changes in the blood oxygen saturation, blood pressure, heart rate, and end-tidal carbon dioxide during the apnea-like periods were observed, and the incidence of adverse reactions was recorded.

Results

The average apnea-like time was 6.2 minutes (range, 3–9 minutes), and the average radiotherapy time was 4.6 minutes (range, 1–7 minutes). The lowest blood oxygen saturation level was 97%, with a change of <1%. The heart rate and average arterial blood pressure increased during the apnea-like periods. Contact sores appeared on the patients’ posterior pharyngeal wall after the first apnea-like period; no other adverse events occurred.

Conclusion

Precise radiotherapy under an apnea-like condition is safe and feasible for patients with lung tumors.

Gated Radiotherapy Development and its Expansion

One of the most important challenges in treatment of patients with cancerous tumors of chest and abdominal areas is organ movement. The delivery of treatment radiation doses to tumor tissue is a challenging matter while protecting healthy and radio sensitive tissues. Since the movement of organs due to respiration causes a discrepancy in the middle of planned and delivered dose distributions. The moderation in the fatalistic effect of intra-fractional target travel on the radiation therapy correctness is necessary for cutting-edge methods of motion remote monitoring and cancerous growth irradiancy. Tracking respiratory milling and implementation of breath-hold techniques by respiratory gating systems have been used for compensation of respiratory motion negative effects. Therefore, these systems help us to deliver precise treatments and also protect healthy and critical organs. It seems aspiration should be kept under observation all over treatment period employing tracking seed markers (e.g. fiducials), skin surface scanners (e.g. camera and laser monitoring systems) and aspiration detectors (e.g. spirometers). However, these systems are not readily available for most radiotherapy centers around the word. It is believed that providing and expanding the required equipment, gated radiotherapy will be a routine technique for treatment of chest and abdominal tumors in all clinical radiotherapy centers in the world by considering benefits of respiratory gating techniques in increasing efficiency of patient treatment in the near future. This review explains the different technologies and systems as well as some strategies available for motion management in radiotherapy centers.

Dosimetry and Feasibility Studies of Volumetric Modulated Arc Therapy With Deep Inspiration Breath-Hold Using Optical Surface Management System for Left-Sided Breast Cancer Patients

Background

During radiotherapy (RT) procedure of breast cancer, portions of the heart and lung will receive some radiation dose, which may result in acute and late toxicities. In the current study, we report the experience of our single institution with organs at risk (OARs)–sparing RT with deep inspiration breath hold (DIBH) using an Optical Surface Management System (OSMS) and compare the dosimetric parameters with that of free breathing (FB).

Patients and Methods

Forty-eight cases diagnosed as early stage left-sided breast cancer scheduled for postoperative RT were enrolled. The OSMS was used to monitor the breathing magnitude and track the real-time respiratory status, which can control a stable lung and heart volume during RT delivery under DIBH. We did the dosimetric analysis of the heart, left anterior descending (LAD) coronary artery, lungs, and contralateral breast under FB and DIBH plans.

Results

Compared with FB–volumetric-modulated arc therapy (FB-VMAT), DIBH-VMAT resulted in significantly changed volumes to the heart and lungs receiving irradiation dose. The average mean heart dose and average D2%, V₅, and V₁₀ showed significant differences between the DIBH and FB techniques. For the LAD coronary artery, we found significantly reduced average mean dose, D2%, and V₁₀ with DIBH. Similar results were also found in the lungs and contralateral breast. The use of flattening-filter–free decreased treatment time compared with the flat beam mode in our VMAT (p < 0.05). For the 48 patients, there were no significant differences in the lateral, longitudinal, and vertical directions between OSMS and cone beam CT.

Conclusions

DIBH-VMAT with OSMS is very feasible in daily practice with excellent patient compliance in our single-center experience. Note that OSMS is an effective tool that may allow easier-to-achieve precise positioning and better and shorter position-verify time. Meanwhile, compared with FB, DIBH was characterized by lower doses to OARs, which may reduce the probability of cardiac and pulmonary complications in the future.

Couch and multileaf collimator tracking: A clinical feasibility study for pancreas and liver treatment

PURPOSE

Real-time tumor tracking through active correction by the multileaf collimator or treatment couch offers a promising strategy to mitigate delivery uncertainty due to intrafractional tumor motion. This study evaluated the performance of MLC and couch tracking using the prototype iTools Tracking system in TrueBeam Developer Mode and the application for abdominal cancer treatments.

METHODS

Experiments were carried out using a phantom with embedded Calypso transponders and a motion simulation platform. Geometric evaluations were performed using a circular conformal field with sinusoidal traces and pancreatic tumor motion traces. Geometric tracking accuracy was retrospectively calculated by comparing the compensational MLC or couch motion extracted from machine log files to the target motion reconstructed from real-time MV and kV images. Dosimetric tracking accuracy was measured with radiochromic films using clinical abdominal VMAT plans and pancreatic tumor traces.

RESULTS

Geometrically, the root-mean-square errors for MLC tracking were 0.5 and 1.8 mm parallel and perpendicular to leaf travel direction, respectively. Couch tracking, in contrast, showed an average of 0.8 mm or less geometric error in all directions. Dosimetrically, both MLC and couch tracking reduced motion-induced local dose errors compared to no tracking. Evaluated with five pancreatic tumor motion traces, the average 2%/2 mm global gamma pass rate of eight clinical abdominal VMAT plans was 67.4% (range: 26.4%-92.7%) without tracking, which was improved to 86.0% (range: 67.9%-95.6%) with MLC tracking, and 98.1% (range: 94.9%-100.0%) with couch tracking. In 16 out of 40 deliveries with different plans and motion traces, MLC tracking did not achieve clinically acceptable dosimetric accuracy with 3%/3mm gamma pass rate below 95%.

CONCLUSIONS

This study demonstrated the capability of MLC and couch tracking to reduce motion-induced dose errors in abdominal cases using a prototype tracking system. Clinically significant dose errors were observed with MLC tracking for certain plans which could be attributed to the inferior MLC tracking accuracy in the direction perpendicular to leaf travel, as well as the interplay between motion tracking and plan delivery for highly modulated plans. Couch tracking outperformed MLC tracking with consistently high dosimetric accuracy in all plans evaluated, indicating its clinical potential in the treatment of abdominal cancers.

Stability and reproducibility of 6013 deep inspiration breath-holds in left-sided breast cancer

Purpose

Patients with left-sided breast cancer frequently receive deep inspiration breath-hold (DIBH) radiotherapy to reduce the risk of cardiac side effects. The aim of the present study was to analyze intra-breath-hold stability and inter-fraction breath-hold reproducibility in clinical practice.

Material and methods

Overall, we analyzed 103 patients receiving left-sided breast cancer radiotherapy using a surface-guided DIBH technique. During each treatment session the vertical motion of the patient was continuously measured by a surface guided radiation therapy (SGRT) system and automated gating control (beam on/off) was performed using an audio-visual patient feedback system. Dose delivery was automatically triggered when the tracking point was within a predefined gating window. Intra-breath-hold stability and inter-fraction reproducibility across all fractions of the entire treatment course were analyzed per patient.

Results

In the present series, 6013 breath-holds during beam-on time were analyzed. The mean amplitude of the gating window from the baseline breathing curve (maximum expiration during free breathing) was 15.8 mm (95%-confidence interval: [8.5–30.6] mm) and had a width of 3.5 mm (95%-CI: [2–4.3] mm). As a measure of intra-breath-hold stability, the median standard deviation of the breath-hold level during DIBH was 0.3 mm (95%-CI: [0.1–0.9] mm). Similarly, the median absolute intra-breath-hold linear amplitude deviation was 0.4 mm (95%-CI: [0.01–2.1] mm). Reproducibility testing showed good inter-fractional reliability, as the maximum difference in the breathing amplitudes in all patients and all fractions were 1.3 mm on average (95%-CI: [0.5–2.6] mm).

Conclusion

The clinical integration of an optical surface scanner enables a stable and reliable DIBH treatment delivery during SGRT for left-sided breast cancer in clinical routine.

Technical Note: Comprehensive performance tests of the first clinical real-time motion tracking and compensation system using MLC and jaws

Purpose

To evaluate the performance of the first clinical real‐time motion tracking and compensation system using multileaf collimator (MLC) and jaws during helical tomotherapy delivery.

Methods

Appropriate mechanical and dosimetry tests were performed on the first clinical real‐time motion tracking system (Synchrony on Radixact, Accuray Inc) recently installed in our institution. kV radiography dose was measured by CTDIw using a pencil chamber. Changes of beam characteristics with jaw offset and MLC leaf shift were evaluated. Various dosimeters and phantoms including A1SL ion chamber (Standard Imaging), Gafchromic EBT3 films (Ashland), TomoPhantom (Med Cal), ArcCheck (Sun Nuclear), Delta4 (ScandiDos), with fiducial or high contrast inserts, placed on two dynamical motion platforms (CIRS dynamic motion‐CIRS, Hexamotion‐ScandiDos), were used to assess the dosimetric accuracy of the available Synchrony modalities: fiducial tracking with nonrespiratory motion (FNR), fiducial tracking with respiratory modeling (FR), and fiducial free (e.g., lung tumor tracking) with respiratory modeling (FFR). Motion detection accuracy of a tracking target, defined as the difference between the predicted and instructed target positions, was evaluated with the root mean square (RMS). The dose accuracy of motion compensation was evaluated by verifying the dose output constancy and by comparing measured and planned (predicted) three‐dimensional (3D) dose distributions based on gamma analysis.

Results

The measured CTDIw for a single radiograph with a 120 kVp and 1.6 mAs protocol was 0.084 mGy, implying a low imaging dose of 8.4 mGy for a typical Synchrony motion tracking fraction with 100 radiographs. The dosimetric effect of the jaw swing or MLC leaf shift was minimal on depth dose (<0.5%) and was <2% on both beam profile width and output for typical motions. The motion detection accuracies, that is, RMS, were 0.84, 1.13, and 0.48 mm for FNR, FR, and FFR, respectively, well within the 1.5 mm recommended tolerance. Dose constancy with Synchrony was found to be within 2%. The gamma passing rates of 3D dose measurements for a variety of Synchrony plans were well within the acceptable level.

Conclusions

The motion tracking and compensation using kV radiography, MLC shifting, and jaw swing during helical tomotherapy delivery was tested to be mechanically and dosimetrically accurate for clinical use.

Performance of Makerless Tracking for Gimbaled Dynamic Tumor Tracking

BACKGROUND AND PURPOSE

The purpose of this work is to report the workflow and the accuracy of the new markerless dynamic tumor tracking (MLDTT) method of the Vero 4DRT system introduced with ExacTrac 3.6.1.

MATERIAL AND METHODS

Phantom measurements were performed to assess the accuracy of the MLDTT algorithm by using the QA-tool which is provided by the vendor. A patient breathing curve was used as the motion trajectory of the phantom and the target positions detected by the MLDTT algorithm were compared to the defined positions. Furthermore, eight patients have been treated with MLDTT between May 2018 and July 2019. A log-file analysis is used to evaluate MLDTT treatment data.

RESULTS

The accuracy of the MLDTT detection is 0.12mm ± 0.12mm, 0.12mm ± 0.11mm, 0.20mm ± 0.21mm for the x-, y-, z-direction, respectively. These values are comparable to the accuracy of marker based DTT at the Vero system. The median treatment time was 21min 34seconds and 175kV images were acquired during treatment for monitoring the target motion.

CONCLUSION

The accuracy of the MLDTT algorithm is comparable to the marker based approach and the accuracy reported for the XSight Lung of the CyberKnife. Eight patients were treated successfully using MLDTT and the treatment times are comparable to a standard DTT treatment.

Method for a motion model based automated 4D dose calculation

The Vero system can treat intra-fractionally moving tumors with gimbaled dynamic tumor tracking (DTT) by rotating the treatment beam so that it follows the motion of the tumor. However, the changes in the beam geometry and the constant breathing motion of the patient influence the dose applied to the patient. This study aims to perform a full 4D dose reconstruction for thirteen patients treated with DTT at the Vero system at the Universitätsklinikum Erlangen and investigates the temporal resolution required to perform an accurate 4D dose reconstruction. For all patients, a 4DCT was used to train a 4D motion model, which is able to calculate pseudo-CT images for arbitrary breathing phases. A new CT image was calculated for every 100 ms of treatment and a dose calculation was performed according to the current beam geometry (i.e. the rotation of the treatment beam at this moment in time) by rotating according to the momentary beam rotation, which is extracted from log-files. The resulting dose distributions were accumulated on the planning CT and characteristic parameters were extracted and compared. [Formula: see text]-evaluations of dose accumulations with different spatial-temporal resolutions were performed to determine the minimal required resolution. In total 173 700 dose calculations were performed. The accumulated 4D dose distributions show a reduced mean GTV dose of 0.77% compared to the static treatment plan. For some patients larger deviations were observed, especially in the presence of a poor 4DCT quality. The [Formula: see text]-evaluation showed that a temporal resolution of 500 ms is sufficient for an accurate dose reconstruction. If the tumor motion is regarded as well, a spatial-temporal sampling of 1400 ms and 2 mm yields accurate results, which reduces the workload by 84%.

Stereotactic body radio therapy for inoperable large hepatocellular cancers: results from a clinical audit

OBJECTIVES

To evaluate the outcomes of stereotactic radiotherapy (SBRT) in the treatment of inoperable hepatocellular carcinomas (HCC) that are unsuitable for, or refractory to other liver-directed therapies.

METHODS

Between March 2015 and June 2018, patients with primary HCCs refractory to or unsuitable for treatment with other liver-directed therapies were treated with SBRT. Patients of Child status A5-B7 and with normal liver reserve ≥ 700 cc were preferred. Local control (LC), overall survival (OS), progression free survival (PFS) and effect of prognostic factors were analysed.

RESULTS

21 patients with inoperable HCCs were treated. The median tumour diameter was 9.6 cm (5-21) and median tumour volume was 350 cc (32.9 - 2541). The median SBRT dose prescription was 42 Gy/6 fractions (25 - 54 Gy/6#). The 1- and 2-year LC rate was 88 and 43 % respectively. Overall rate of > grade III toxicity was 14 %. Patients with Child A5 liver function had a better median OS than A6 and B7 patients [21 vs 11 vs 8 months]. Also, tumours with GTV < 350 cc volumes had a better OS compared to GTV of greater than 350 cc [24 months vs 8 months, p value = 0.004].

CONCLUSIONS

This study showed that SBRT can be used safely and effectively to treat inoperable HCCs with or without prior loco-regional therapies, resulting in good local control and survival with acceptable toxicity.

ADVANCES IN KNOWLEDGE

Use of SBRT in inoperable HCC is safe and effective.

Dynamic MLC Tracking Using 4D Lung Tumor Motion Modelling and EPID Feedback

BACKGROUND

Respiratory motion causes thoracic movement and reduces targeting accuracy in radiotherapy.

OBJECTIVE

This study proposes an approach to generate a model to track lung tumor motion by controlling dynamic multi-leaf collimators.

MATERIAL AND METHODS

All slices which contained tumor were contoured in the 4D-CT images for 10 patients. For modelling of respiratory motion, the end-exhale phase of these images has been considered as the reference and they were analyzed using neuro-fuzzy method to predict the magnitude of displacement of the lung tumor. Then, the predicted data were used to determine the leaf motion in MLC. Finally, the trained algorithm was figured out using Shaper software to show how MLCs could track the moving tumor and then imported on the Varian Linac equipped with EPID.

RESULTS

The root mean square error (RMSE) was used as a statistical criterion in order to investigate the accuracy of neuro-fuzzy performance in lung tumor prediction. The results showed that RMSE did not have a considerable variation. Also, there was a good agreement between the images obtained by EPID and Shaper for a respiratory cycle.

CONCLUSION

The approach used in this study can track the moving tumor with MLC based on the 4D modelling, so it can improve treatment accuracy, dose conformity and sparing of healthy tissues because of low error in margins that can be ignored. Therefore, this method can work more accurately as compared with the gating and invasive approaches using markers.

Continuous generation of volumetric images during stereotactic body radiation therapy using periodic kV imaging and an external respiratory surrogate

We present a technique for continuous generation of volumetric images during SBRT using periodic kV imaging and an external respiratory surrogate signal to drive a patient-specific PCA motion model. Using the on-board imager, kV radiographs are acquired every 3 s and used to fit the parameters of a motion model so that it matches observed changes in internal patient anatomy. A multi-dimensional correlation model is established between the motion model parameters and the external surrogate position and velocity, enabling volumetric image reconstruction between kV imaging time points. Performance of the algorithm was evaluated using 10 realistic eXtended CArdiac-Torso (XCAT) digital phantoms including 3D anatomical respiratory deformation programmed with 3D tumor positions measured with orthogonal kV imaging of implanted fiducial gold markers. The clinically measured ground truth 3D tumor positions provided a dataset with realistic breathing irregularities, and the combination of periodic on-board kV imaging with recorded external respiratory surrogate signal was used for correlation modeling to account for any changes in internal-external correlation. The three-dimensional tumor positions are reconstructed with an average root mean square error (RMSE) of 1.47 mm, and an average 95th percentile 3D positional error of 2.80 mm compared with the clinically measured ground truth 3D tumor positions. This technique enables continuous 3D anatomical image generation based on periodic kV imaging of internal anatomy without the additional dose of continuous kV imaging. The 3D anatomical images produced using this method can be used for treatment verification and delivered dose computation in the presence of irregular respiratory motion.

Tumor localization accuracy for high-precision radiotherapy during active breath-hold

BACKGROUND

Conventionally fractionated and stereotactic body radiation therapy (SBRT) for thoracoabdominal tumors may utilize breath-hold techniques. However, there are concerns that differential amounts of inspired airflow may result in unplanned tumor dislocation and underdosing. Thus, we investigated tumor localization accuracy associated with lung volume variations during breath-hold treatment via an automated-gating interface.

METHODS

Twelve patients received breath-hold treatment with the active breathing coordinator (ABC) through an automated-gating interface. All breath-hold volumes were recorded at CT simulation, setup imaging, and during treatment, and analyzed as a function of airflow rate into the ABC. The variation of breath-hold volumes was calculated for each fraction over entire course. Intrafraction target motion related to the breathing variation was investigated based on daily imaging acquired before the breath-hold treatment. Correlation between target location and breath-hold variation was statistically analyzed.

RESULTS

The air volume held by the ABC increased as the airflow rate increased on inhalation and decreased on exhalation. The mean range of airflow rate was 0.77 L/s and 0.29 L/s in the conventionally fractionated and SBRT patients, respectively. The maximum air volume difference with respect to the reference volume at the CT simulation was 1.0 L for conventional fractionation and 0.16 L for SBRT. The target dislocation caused by 0.25 L of air volume difference was 6 mm for SBRT. Three patients showed significant correlation between the target location and breath-hold variations.

CONCLUSIONS

This investigation shows that because variations in the breath-hold volume may cause target dislocation, patient-specific breath-hold setting is required to improve tumor localization accuracy.

See, Think, and Act: Real-Time Adaptive Radiotherapy

The world is embracing the information age, with real-time data at hand to assist with many decisions. Similarly, in cancer radiotherapy we are inexorably moving toward using information in a smarter and faster fashion, to usher in the age of real-time adaptive radiotherapy. The three critical steps of real-time adaptive radiotherapy, aligned with driverless vehicle technology are a continuous see, think, and act loop. See: use imaging systems to probe the patient anatomy or physiology as it evolves with time. Think: use current and prior information to optimize the treatment using the available adaptive degrees of freedom. Act: deliver the real-time adapted treatment. This paper expands upon these three critical steps for real-time adaptive radiotherapy, provides a historical context, reviews the clinical rationale, and gives a future outlook for real-time adaptive radiotherapy.

Optimal Gating Window for Respiratory-Gated Radiotherapy with Real-Time Position Management and Respiration Guiding System for Liver Cancer Treatment

Respiratory-gated radiotherapy is one of the most effective approaches to minimise radiation dose delivery to normal tissue and maximise delivery to tumours under patient's motion caused by respiration. We propose a respiration guiding system based on real-time position management with suitable gating window for respiratory-gated radiotherapy applied to liver cancer. Between August 2016 and February 2018, 52 patients with liver cancer received training in real-time position management and respiration guiding. Respiration signals were statistically analysed during unguided respiration and when applying the respiration guiding system. Phases of 30-60% and 30-70% retrieved the lowest respiration variability among patients, and 47 patients exhibited significant differences in terms of respiration reproducibility between unguided and guided respiration. The results suggest that either of these phases can establish suitable windows for gated radiotherapy applied to liver cancer, especially regarding respiration reproducibility.

Performance of gimbal-based dynamic tumor tracking for treating liver carcinoma

BACKGROUND

Since the introduction of tumor tracking in radiotherapy, it is possible to ensure a precise irradiation of moving targets. To follow the tumor movement, most systems rely on the detection of implanted markers and correlation models between the internal and external patient movement. This study reports the clinical workflow and first results of the dynamic tumor tracking (DTT) performance for patients with liver carcinoma at the Vero SBRT system of the University Hospital Erlangen regarding the detection of the internal marker and the changes of the determined correlation models.

METHODS

So far 13 liver patients were treated with DTT. For each patient, two fiducial markers (FM), which are monitored with X-rays during treatment, were implanted in the vicinity of the tumor. All patients received a fraction dose of 4-6 Gy with 8 to 12 fractions. Treatment and patient data is evaluated by processing the acquired log-files of the DTT treatment. Based on this, the marker detection and the changes of the correlation model between the internal and external movement is investigated.

RESULTS

The median treatment time was 19:42 min. During treatment a median of 173 X-ray stereoscopic images were acquired. The marker detection was successful in 64.6% of the images. The FM detection is independent of the relative angle between the marker and the imager, but shows a dependency on the average intensity surrounding the FM position within the kV images. The number of correlation models needed during treatment increases in the presence of baseline shifts. The comparison of the correlation models shows large differences in the internal-external correlation between the different models acquired for one patient.

CONCLUSION

Thirteen liver patients were treated with DTT at the Vero SBRT system and the marker detection was analyzed. Furthermore, the importance of regularly monitoring the internal target motion could be shown, since the correlation between the internal and external motion changes considerably over the course of the treatment.

Cardiac sparing characteristics of internal mammary chain radiotherapy using deep inspiration breath hold for left-sided breast cancer

BACKGROUND

While breast radiotherapy typically includes regional nodal basins, the treatment of the internal mammary nodes (IMN) has been controversial due to concern for long-term cardiac toxicity. For high risk patients where IMN treatment is warranted, there is limited data with regards to the degree of heart sparing conferred by modern techniques. In this study, we sought to analyze the specific heart sparing metrics conferred by deep inspiration breath hold (DIBH) in the setting of IMN irradiation.

METHODS

From 2012 to 2015, 168 consecutive patients were treated with adjuvant left-sided radiotherapy using DIBH. Retrospective review identified 49 patients who received nodal irradiation, either to a supraclavicular field (SCF) and IMN (16), or to the SCF alone (33). Cardiac mean dose and dose volumes were calculated from free breathing (FB) and DIBH treatment plans, and compared by Wilcoxon signed-rank and Mann-Whitney U tests.

RESULTS

DIBH achieved significant reductions in mean heart dose (p < 0.001) in both the IMN treated group from 6.73 Gy to 2.79 Gy (- 56.4%) and the IMN untreated group from 4.77 Gy to 1.55 Gy (- 63.7%). There was a 7.3% difference in relative reduction that was not statistically significant (p = 0.216). Relative reductions in heart dose volume measures were all significantly lower for IMN-irradiated patients (p ≤ 0.012), with the greatest deficits at V₅ that gradually diminish with increasing dose (V₂₅).

CONCLUSIONS

The relative heart sparing benefits of the DIBH technique are retained even with IMN inclusion. However, the addition of IMN irradiation is associated with an intrinsically greater heart dose, which translates to an estimated 9.2% proportional increase in the risk of a subsequent major coronary event. In the setting of effective cardiac sparing techniques, clinicians should take these considerations into account to guide when IMN treatment is warranted.

Deep Inspiration Breath Hold: Techniques and Advantages for Cardiac Sparing During Breast Cancer Irradiation

Historically, heart dose from left-sided breast radiotherapy has been associated with a risk of cardiac injury. Data suggests that there is not a threshold for the deleterious effects from radiation on the heart. Over the past several years, advances in radiation delivery techniques have reduced cardiac morbidity due to treatment. Deep inspiration breath hold (DIBH) is a technique that takes advantage of a more favorable position of the heart during inspiration to minimize heart doses over a course of radiation therapy. In the accompanying review article, we outline several methods used to deliver treatment with DIBH, quantify the benefits of DIBH treatment, discuss considerations for patient selection, and identify challenges associated with DIBH techniques.

Magnitude, Impact, and Management of Respiration-induced Target Motion in Radiotherapy Treatment: A Comprehensive Review

Tumors in thoracic and upper abdomen regions such as lungs, liver, pancreas, esophagus, and breast move due to respiration. Respiration-induced motion introduces uncertainties in radiotherapy treatments of these sites and is regarded as a significant bottleneck in achieving highly conformal dose distributions. Recent developments in radiation therapy have resulted in (i) motion-encompassing, (ii) respiratory gating, and (iii) tracking methods for adapting the radiation beam aperture to account for the respiration-induced target motion. The purpose of this review is to discuss the magnitude, impact, and management of respiration-induced tumor motion.

Lung surface deformation prediction from spirometry measurement and chest wall surface motion

PURPOSE

The authors have developed and evaluated a method to predict lung surface motion based on spirometry measurements, and chest and abdomen motion at selected locations.

METHODS

A patient-specific 3D triangular surface mesh of the lung region was obtained at the end expiratory phase by the threshold-based segmentation method. Lung flow volume changes were recorded with a spirometer for each patient. A total of 192 selected points at a regular spacing of 2 × 2 cm matrix points were used to detect chest wall motion over a total area of 32 × 24 cm covering the chest and abdomen surfaces. QR factorization with column pivoting was employed to remove redundant observations of the chest and abdominal areas. To create a statistical model between the lung surface and the corresponding surrogate signals, the authors developed a predictive model based on canonical ridge regression. Two unique weighting vectors were selected for each vertex on the lung surface; they were optimized during the training process using all other 4D-CT phases except for the test inspiration phase. These parameters were employed to predict the vertex locations of a testing data set.

RESULTS

The position of each lung surface mesh vertex was estimated from the motion at selected positions within the chest wall surface and from spirometry measurements in ten lung cancer patients. The average estimation of the 98th error percentile for the end inspiration phase was less than 1 mm (AP = 0.9 mm, RL = 0.6 mm, and SI = 0.8 mm). The vertices located at the lower region of the lung had a larger estimation error as compared with those within the upper region of the lung. The average landmark motion errors, derived from the biomechanical modeling using real surface deformation vector fields (SDVFs), and the predicted SDVFs were 3.0 and 3.1 mm, respectively.

CONCLUSIONS

Our newly developed predictive model provides a noninvasive approach to derive lung boundary conditions. The proposed system can be used with personalized biomechanical respiration modeling to derive lung tumor motion during radiation therapy from noninvasive measurements.

New approach in lung cancer radiotherapy offers better normal tissue sparing

PURPOSE

Medical images are more than pictures. They contain additional quantitative information which can be interrogated, quantified, and utilized. Besides anatomical information computed tomography (CT) imaging data provide electron density information. Radiotherapy use of this density information is limited to its application only in dose calculations. The direct product of dose, density, and volume forms a quantity called integral dose. The integral dose delivered to a volume of interest is the total energy deposited in that volume. Here it is hypothesized that minimization of the integral dose is advantageous in radiotherapy planning. The purpose of this work is to study the incorporation of quantitative imaging information in radiotherapy inverse optimization through total energy minimization (Energy hereafter).

DESIGN

Twenty lung patient plans were studied. For each patient density was quantified on voxel-by-voxel basis through image gray value-to-density conversion curves. Energy-based objective function was used for inverse radiotherapy plan optimization. The obtained plans were evaluated in the light of current standard of care, based on dose-volume (DVH) optimization approach.

RESULTS

The statistical significance analyses of the results indicated that the doses to normal tissue were between 14% and 45% lower, when Energy-based optimization was used instead of DVH-based optimization.

CONCLUSION

Incorporation of quantitative imaging information, through CT derived density, in the optimization cost function allows reduction of dose to normal tissue for NSCLC cases. Energy-based radiotherapy plans result in lower normal tissue dose and potentially lower complication rates compared to standard of care.

A technique of quantitatively monitoring both respiratory and nonrespiratory motion in patients using external body markers

The purpose of this study was to develop a technique that could quantitatively monitor the nonrespiratory motion of a patient during stereotactic body radiotherapy (SBRT). Multiple infrared external markers were placed on the patient's chest and abdominal surface to obtain patient motion signals. These motion signals contained both respiratory and nonrespiratory motion information. The respiratory motion usually has much larger amplitude on the abdominal surface than on the chest surface. Assuming that the nonrespiratory motion is a rigid body translation, we have developed a computer algorithm to derive both the respiratory and nonrespiratory motion signals instantly from two sets of motion signals. In first-order approximation, the respiratory motion was represented by the motion signal on the abdominal surface, and the nonrespiratory motion was represented by the motion signal on the chest surface subtracting its respiratory component. The algorithm was retrospectively tested on 24 patients whose motion signals were recorded during a gated-CT simulation procedure. The result showed that the respiratory noise in the nonrespiratory motion signal was reduced to less than 1 mm for almost all patients, demonstrating that the technique was able to detect nonrespiratory motion with a sensitivity of about 1 mm. It also showed that 50% of the patients had > or =2 mm, and 2 patients had > or =3 mm slow drift during the 15-25 min simulation procedure, suggesting that nonrespiratory motion could exist during prolonged treatment. This technique can potentially be used to control the nonrespiratory motion during SBRT. However, further validation is required for its clinical use.

Respiratory gated radiotherapy-pretreatment patient specific quality assurance

Organ motions during inter-fraction and intra-fraction radiotherapy introduce errors in dose delivery, irradiating excess of normal tissue, and missing target volume. Lung and heart involuntary motions cause above inaccuracies and gated dose delivery try to overcome above effects. Present work attempts a novel method to verify dynamic dose delivery using a four-dimensional (4D) phantom. Three patients with mobile target are coached to maintain regular and reproducible breathing pattern. Appropriate intensity projection image set generated from 4D-computed tomography (4D-CT) is used for target delineation. Intensity modulated radiotherapy plans were generated on selected phase using CT simulator (Siemens AG, Germany) in conjunction with “Real-time position management” (Varian, USA) to acquire 4D-CT images. Verification plans were generated for both ion chamber and Gafchromic (EBT) film image sets. Gated verification plans were delivered on the phantom moving with patient respiratory pattern. We developed a MATLAB-based software to generate maximum intensity projection, minimum intensity projections, and average intensity projections, also a program to convert patient breathing pattern to phantom compatible format. Dynamic thorax quality assurance (QA) phantom (Computerized Imaging Reference Systems type) is used to perform the patient specific QA, which holds an ion chamber and film to measure delivered radiation intensity. Exposed EBT films are analyzed and compared with treatment planning system calculated dose. The ion chamber measured dose shows good agreement with planned dose within ± 0.5% (0.203 ± 0.57%). Gamma value evaluated from EBT film shows passing rates 92–99% (96.63 ± 3.84%) for 3% dose and 3 mm distance criteria. Respiratory gated treatment delivery accuracy is found to be within clinically acceptable level.

Technical aspects of real time positron emission tracking for gated radiotherapy

PURPOSE

Respiratory motion can lead to treatment errors in the delivery of radiotherapy treatments. Respiratory gating can assist in better conforming the beam delivery to the target volume. We present a study of the technical aspects of a real time positron emission tracking system for potential use in gated radiotherapy.

METHODS

The tracking system, called PeTrack, uses implanted positron emission markers and position sensitive gamma ray detectors to track breathing motion in real time. PeTrack uses an expectation-maximization algorithm to track the motion of fiducial markers. A normalized least mean squares adaptive filter predicts the location of the markers a short time ahead to account for system response latency. The precision and data collection efficiency of a prototype PeTrack system were measured under conditions simulating gated radiotherapy. The lung insert of a thorax phantom was translated in the inferior-superior direction with regular sinusoidal motion and simulated patient breathing motion (maximum amplitude of motion ±10 mm, period 4 s). The system tracked the motion of a (22)Na fiducial marker (0.34 MBq) embedded in the lung insert every 0.2 s. The position of the was marker was predicted 0.2 s ahead. For sinusoidal motion, the equation used to model the motion was fitted to the data. The precision of the tracking was estimated as the standard deviation of the residuals. Software was also developed to communicate with a Linac and toggle beam delivery. In a separate experiment involving a Linac, 500 monitor units of radiation were delivered to the phantom with a 3 × 3 cm photon beam and with 6 and 10 MV accelerating potential. Radiochromic films were inserted in the phantom to measure spatial dose distribution. In this experiment, the period of motion was set to 60 s to account for beam turn-on latency. The beam was turned off when the marker moved outside of a 5-mm gating window.

RESULTS

The precision of the tracking in the IS direction was 0.53 mm for a sinusoidally moving target, with an average count rate ∼250 cps. The average prediction error was 1.1 ± 0.6 mm when the marker moved according to irregular patient breathing motion. Across all beam deliveries during the radiochromic film measurements, the average prediction error was 0.8 ± 0.5 mm. The maximum error was 2.5 mm and the 95th percentile error was 1.5 mm. Clear improvement of the dose distribution was observed between gated and nongated deliveries. The full-width at halfmaximum of the dose profiles of gated deliveries differed by 3 mm or less than the static reference dose distribution. Monitoring of the beam on/off times showed synchronization with the location of the marker within the latency of the system.

CONCLUSIONS

PeTrack can track the motion of internal fiducial positron emission markers with submillimeter precision. The system can be used to gate the delivery of a Linac beam based on the position of a moving fiducial marker. This highlights the potential of the system for use in respiratory-gated radiotherapy.

Commissioning of a motion system to investigate dosimetric consequences due to variability of respiratory waveforms

A commercially available six‐dimensional (6D) motion system was assessed for accuracy and clinical use in our department. Positional accuracy and respiratory waveform reproducibility were evaluated for the motion system. The system was then used to investigate the dosimetric consequences of respiratory waveform variation when an internal target volume (ITV) approach is used for motion management. The maximum deviations are 0.3 mm and 0.22° for translation and rotation accuracy, respectively, for the tested clinical ranges. The origin reproducibility is less than ±0.1 mm. The average differences are less than 0.1 mm with a maximum standard deviation of 0.8 mm between waveforms of actual patients and replication of those waveforms by HexaMotion for three breath‐hold and one free‐breathing waveform. A modified gamma analysis shows greater than 98% agreement with a 0.5 mm and 100 ms threshold. The motion system was used to investigate respiratory waveform variation and showed that, as the amplitude of the treatment waveform increases above that of the simulation waveform, the periphery of the target volume receives less dose than expected. However, by using gating limits to terminate the beam outside of the simulation amplitude, the results are as expected dosimetrically. Specifically, the average dose difference in the periphery between treating with the simulation waveform and the larger amplitude waveform could be up to 12% less without gating limits, but only differed 2% or less with the gating limits in place. The general functionality of the system performs within the manufacturer's specifications and can accurately replicate patient specific waveforms. When an ITV approach is used for motion management, we found the use of gating limits that coincide with the amplitude of the patient waveform at simulation helpful to prevent the potential underdosing of the target due to changes in patient respiration.

PACS numbers: 87.55.Kh, 87.55.Qr, 87.56.Fc

Dose-mass inverse optimization for minimally moving thoracic lesions

In the past decade, several different radiotherapy treatment plan evaluation and optimization schemes have been proposed as viable approaches, aiming for dose escalation or an increase of healthy tissue sparing. In particular, it has been argued that dose-mass plan evaluation and treatment plan optimization might be viable alternatives to the standard of care, which is realized through dose-volume evaluation and optimization. The purpose of this investigation is to apply dose-mass optimization to a cohort of lung cancer patients and compare the achievable healthy tissue sparing to that one achievable through dose-volume optimization. Fourteen non-small cell lung cancer (NSCLC) patient plans were studied retrospectively. The range of tumor motion was less than 0.5 cm and motion management in the treatment planning process was not considered. For each case, dose-volume (DV)-based and dose-mass (DM)-based optimization was performed. Nine-field step-and-shoot IMRT was used, with all of the optimization parameters kept the same between DV and DM optimizations. Commonly used dosimetric indices (DIs) such as dose to 1% the spinal cord volume, dose to 50% of the esophageal volume, and doses to 20 and 30% of healthy lung volumes were used for cross-comparison. Similarly, mass-based indices (MIs), such as doses to 20 and 30% of healthy lung masses, 1% of spinal cord mass, and 33% of heart mass, were also tallied. Statistical equivalence tests were performed to quantify the findings for the entire patient cohort. Both DV and DM plans for each case were normalized such that 95% of the planning target volume received the prescribed dose. DM optimization resulted in more organs at risk (OAR) sparing than DV optimization. The average sparing of cord, heart, and esophagus was 23, 4, and 6%, respectively. For the majority of the DIs, DM optimization resulted in lower lung doses. On average, the doses to 20 and 30% of healthy lung were lower by approximately 3 and 4%, whereas lung volumes receiving 2000 and 3000 cGy were lower by 3 and 2%, respectively. The behavior of MIs was very similar. The statistical analyses of the results again indicated better healthy anatomical structure sparing with DM optimization. The presented findings indicate that dose-mass-based optimization results in statistically significant OAR sparing as compared to dose-volume-based optimization for NSCLC. However, the sparing is case-dependent and it is not observed for all tallied dosimetric endpoints.

Lung cancer

(18)F-fluorodeoxyglucose-positron emission tomography/computed tomography (FDG-PET/CT) plays a key role in the evaluation of undiagnosed lung nodules, when primary lung cancer is strongly suspected, or when it has already been diagnosed by other techniques. Although technical factors may compromise characterization of small or highly mobile lesions, lesions without apparent FDG uptake can generally be safely observed, whereas FDG-avid lung nodules almost always need further evaluation. FDG-PET/CT is now the primary staging imaging modality for patients with lung cancer who are being considered for curative therapy with either surgery or definitive radiation therapy.

Review of deep inspiration breath-hold techniques for the treatment of breast cancer

Radiation treatment to the left breast is associated with increased cardiac morbidity and mortality. The deep inspiration breath-hold technique (DIBH) can decrease radiation dose delivered to the heart and this may facilitate the treatment of the internal mammary chain nodes. The aim of this review is to critically analyse the literature available in relation to breath-hold methods, implementation, utilisation, patient compliance, planning methods and treatment verification of the DIBH technique. Despite variation in the literature regarding the DIBH delivery method, patient coaching, visual feedback mechanisms and treatment verification, all methods of DIBH delivery reduce radiation dose to the heart. Further research is required to determine optimum protocols for patient training and treatment verification to ensure the technique is delivered successfully.

Tumor control probability reduction in gated radiotherapy of non-small cell lung cancers: a feasibility study

We studied the feasibility of evaluating tumor control probability (TCP) reductions for tumor motion beyond planned gated radiotherapy margins. Tumor motion was determined from cone‐beam CT projections acquired for patient setup, intrafraction respiratory traces, and 4D CTs for five non‐small cell lung cancer (NSCLC) patients treated with gated radiotherapy. Tumors were subdivided into 1 mm sections whose positions and doses were determined for each beam‐on time point. (The dose calculation model was verified with motion phantom measurements.) The calculated dose distributions were used to generate the treatment TCPs for each patient. The plan TCPs were calculated from the treatment planning dose distributions. The treatment TCPs were compared to the plan TCPs for various models and parameters. Calculated doses matched phantom measurements within 0.3% for up to 3 cm of motion. TCP reductions for excess motion greater than 5 mm ranged from 1.7% to 11.9%, depending on model parameters, and were as high as 48.6% for model parameters that simulated an individual patient. Repeating the worst case motion for all fractions increased TCP reductions by a factor of 2 to 3, while hypofractionation decreased these reductions by as much as a factor of 3. Treatment motion exceeding gating margins by more than 5 mm can lead to considerable TCP reductions. Appropriate margins for excess motion are recommended, unless applying daily tumor motion verification and adjusting the gating window.

PACS numbers: 87.55.dk, 87.57.Q‐

Dual-Gated Volumetric Modulated Arc Therapy

BACKGROUND

Gated Volumetric Modulated Arc Therapy (VMAT) is an emerging radiation therapy modality for treatment of tumors affected by respiratory motion. However, gating significantly prolongs the treatment time, as delivery is only activated during a single respiratory phase. To enhance the efficiency of gated VMAT delivery, a novel dual-gated VMAT (DG-VMAT) technique, in which delivery is executed at both exhale and inhale phases in a given arc rotation, is developed and experimentally evaluated.

METHODS

Arc delivery at two phases is realized by sequentially interleaving control points consisting of MUs, MLC sequences, and angles of VMAT plans generated at the exhale and inhale phases. Dual-gated delivery is initiated when a respiration gating signal enters the exhale window; when the exhale delivery concludes, the beam turns off and the gantry rolls back to the starting position for the inhale window. The process is then repeated until both inhale and exhale arcs are fully delivered. DG-VMAT plan delivery accuracy was assessed using a pinpoint chamber and diode array phantom undergoing programmed motion.

RESULTS

DG-VMAT delivery was experimentally implemented through custom XML scripting in Varian's TrueBeam™ STx Developer Mode. Relative to single gated delivery at exhale, the treatment time was improved by 95.5% for a sinusoidal breathing pattern. The pinpoint chamber dose measurement agreed with the calculated dose within 0.7%. For the DG-VMAT delivery, 97.5% of the diode array measurements passed the 3%/3 mm gamma criterion.

CONCLUSIONS

The feasibility of DG-VMAT delivery scheme has been experimentally demonstrated for the first time. By leveraging the stability and natural pauses that occur at end-inspiration and end-exhalation, DG-VMAT provides a practical method for enhancing gated delivery efficiency by up to a factor of two.

A new method for tracking organ motion on diagnostic ultrasound images

PURPOSE

Respiratory-gated irradiation is effective in reducing the margins of a target in the case of abdominal organs, such as the liver, that change their position as a result of respiratory motion. However, existing technologies are incapable of directly measuring organ motion in real-time during radiation beam delivery. Hence, the authors proposed a novel quantitative organ motion tracking method involving the use of diagnostic ultrasound images; it is noninvasive and does not entail radiation exposure. In the present study, the authors have prospectively evaluated this proposed method.

METHODS

The method involved real-time processing of clinical ultrasound imaging data rather than organ monitoring; it comprised a three-dimensional ultrasound device, a respiratory sensing system, and two PCs for data storage and analysis. The study was designed to evaluate the effectiveness of the proposed method by tracking the gallbladder in one subject and a liver vein in another subject. To track a moving target organ, the method involved the control of a region of interest (ROI) that delineated the target. A tracking algorithm was used to control the ROI, and a large number of feature points and an error correction algorithm were used to achieve long-term tracking of the target. Tracking accuracy was assessed in terms of how well the ROI matched the center of the target.

RESULTS

The effectiveness of using a large number of feature points and the error correction algorithm in the proposed method was verified by comparing it with two simple tracking methods. The ROI could capture the center of the target for about 5 min in a cross-sectional image with changing position. Indeed, using the proposed method, it was possible to accurately track a target with a center deviation of 1.54±0.9 mm. The computing time for one frame image using our proposed method was 8 ms. It is expected that it would be possible to track any soft-tissue organ or tumor with large deformations and changing cross-sectional position using this method.

CONCLUSIONS

The proposed method achieved real-time processing and continuous tracking of the target organ for about 5 min. It is expected that our method will enable more accurate radiation treatment than is the case using indirect observational methods, such as the respiratory sensor method, because of direct visualization of the tumor. Results show that this tracking system facilitates safe treatment in clinical practice.

Computing proton dose to irregularly moving targets

PURPOSE

While four-dimensional computed tomography (4DCT) and deformable registration can be used to assess the dose delivered to regularly moving targets, there are few methods available for irregularly moving targets. 4DCT captures an idealized waveform, but human respiration during treatment is characterized by gradual baseline shifts and other deviations from a periodic signal. This paper describes a method for computing the dose delivered to irregularly moving targets based on 1D or 3D waveforms captured at the time of delivery.

METHODS

The procedure uses CT or 4DCT images for dose calculation, and 1D or 3D respiratory waveforms of the target position at time of delivery. Dose volumes are converted from their Cartesian geometry into a beam-specific radiological depth space, parameterized in 2D by the beam aperture, and longitudinally by the radiological depth. In this new frame of reference, the proton doses are translated according to the motion found in the 1D or 3D trajectory. These translated dose volumes are weighted and summed, then transformed back into Cartesian space, yielding an estimate of the dose that includes the effect of the measured breathing motion. The method was validated using a synthetic lung phantom and a single representative patient CT. Simulated 4DCT was generated for the phantom with 2 cm peak-to-peak motion.

RESULTS

A passively-scattered proton treatment plan was generated using 6 mm and 5 mm smearing for the phantom and patient plans, respectively. The method was tested without motion, and with two simulated breathing signals: a 2 cm amplitude sinusoid, and a 2 cm amplitude sinusoid with 3 cm linear drift in the phantom. The tumor positions were equally weighted for the patient calculation. Motion-corrected dose was computed based on the mid-ventilation CT image in the phantom and the peak exhale position in the patient. Gamma evaluation was 97.8% without motion, 95.7% for 2 cm sinusoidal motion, 95.7% with 3 cm drift in the phantom (2 mm, 2%), and 90.8% (3 mm, 3%)for the patient data.

CONCLUSIONS

We have demonstrated a method for accurately reproducing proton dose to an irregularly moving target from a single CT image. We believe this algorithm could prove a useful tool to study the dosimetric impact of baseline shifts either before or during treatment.

Toward the development of intrafraction tumor deformation tracking using a dynamic multi-leaf collimator

PURPOSE

Intrafraction deformation limits targeting accuracy in radiotherapy. Studies show tumor deformation of over 10 mm for both single tumor deformation and system deformation (due to differential motion between primary tumors and involved lymph nodes). Such deformation cannot be adapted to with current radiotherapy methods. The objective of this study was to develop and experimentally investigate the ability of a dynamic multi-leaf collimator (DMLC) tracking system to account for tumor deformation.

METHODS

To compensate for tumor deformation, the DMLC tracking strategy is to warp the planned beam aperture directly to conform to the new tumor shape based on real time tumor deformation input. Two deformable phantoms that correspond to a single tumor and a tumor system were developed. The planar deformations derived from the phantom images in beam's eye view were used to guide the aperture warping. An in-house deformable image registration software was developed to automatically trigger the registration once new target image was acquired and send the computed deformation to the DMLC tracking software. Because the registration speed is not fast enough to implement the experiment in real-time manner, the phantom deformation only proceeded to the next position until registration of the current deformation position was completed. The deformation tracking accuracy was evaluated by a geometric target coverage metric defined as the sum of the area incorrectly outside and inside the ideal aperture. The individual contributions from the deformable registration algorithm and the finite leaf width to the tracking uncertainty were analyzed. Clinical proof-of-principle experiment of deformation tracking using previously acquired MR images of a lung cancer patient was implemented to represent the MRI-Linac environment. Intensity-modulated radiation therapy (IMRT) treatment delivered with enabled deformation tracking was simulated and demonstrated.

RESULTS

The first experimental investigation of adapting to tumor deformation has been performed using simple deformable phantoms. For the single tumor deformation, the A(u)+A(o) was reduced over 56% when deformation was larger than 2 mm. Overall, the total improvement was 82%. For the tumor system deformation, the A(u)+A(o) reductions were all above 75% and the total A(u)+A(o) improvement was 86%. Similar coverage improvement was also found in simulating deformation tracking during IMRT delivery. The deformable image registration algorithm was identified as the dominant contributor to the tracking error rather than the finite leaf width. The discrepancy between the warped beam shape and the ideal beam shape due to the deformable registration was observed to be partially compensated during leaf fitting due to the finite leaf width. The clinical proof-of-principle experiment demonstrated the feasibility of intrafraction deformable tracking for clinical scenarios.

CONCLUSIONS

For the first time, we developed and demonstrated an experimental system that is capable of adapting the MLC aperture to account for tumor deformation. This work provides a potentially widely available management method to effectively account for intrafractional tumor deformation. This proof-of-principle study is the first experimental step toward the development of an image-guided radiotherapy system to treat deforming tumors in real-time.

Customized prediction of respiratory motion with clustering from multiple patient interaction

Information processing of radiotherapy systems has become an important research area for sophisticated radiation treatment methodology. Geometrically precise delivery of radiotherapy in the thorax and upper abdomen is compromised by respiratory motion during treatment. Accurate prediction of the respiratory motion would be beneficial for improving tumor targeting. However, a wide variety of breathing patterns can make it difficult to predict the breathing motion with explicit models. We proposed a respiratory motion predictor, that is, customized prediction with multiple patient interactions using neural network (CNN). For the preprocedure of prediction for individual patient, we construct the clustering based on breathing patterns of multiple patients using the feature selection metrics that are composed of a variety of breathing features. In the intraprocedure, the proposed CNN used neural networks (NN) for a part of the prediction and the extended Kalman filter (EKF) for a part of the correction. The prediction accuracy of the proposed method was investigated with a variety of prediction time horizons using normalized root mean squared error (NRMSE) values in comparison with the alternate recurrent neural network (RNN). We have also evaluated the prediction accuracy using the marginal value that can be used as the reference value to judge how many signals lie outside the confidence level. The experimental results showed that the proposed CNN can outperform RNN with respect to the prediction accuracy with an improvement of 50%.

Abdominal and pancreatic motion correlation using 4D CT, 4D transponders, and a gating belt

The correlation between the pancreatic and external abdominal motion due to respiration was investigated on two patients. These studies utilized four dimensional computer tomography (4D CT), a four dimensional (4D) electromagnetic transponder system, and a gating belt system. One 4D CT study was performed during simulation to quantify the pancreatic motion using computer tomography images at eight breathing phases. The motion under free breathing and breath‐hold were analyzed for the 4D electromagnetic transponder system and the gating belt system during treatment. A linear curve was fitted for all data sets and correlation factors were evaluated between the 4D electromagnetic transponder system and the gating belt system data. The 4D CT study demonstrated a modest correlation between the external marker and the pancreatic motion with R‐square values larger than 0.8 for the inferior–superior (inf‐sup). Then, the relative pressure from the belt gating system correlated well with the 4D electromagnetic transponder system's motion in the anterior–posterior (ant‐post) and the inf–post directions. These directions have a correlation value of −0.93 and 0.76, while the lateral only had a 0.03 correlation coefficient. Based on our limited study, external surrogates can be used as predictors of the pancreatic motion in the inf–sup and the ant–post directions. Although there is a low correlation on the lateral direction, its motion is significantly shorter. In conclusion, an appropriate treatment delivery can be used for pancreatic cancer when an internal tracking system, such as the 4D electromagnetic transponder system, is unavailable.

PACS number: 87.55.kh

Performance evaluation of respiratory motion-synchronized dynamic IMRT delivery

The purpose of this study was to evaluate the capabilities of DMLC to deliver the respiratory motion‐synchronized dynamic IMRT (MS‐IMRT) treatments under various dose rates. In order to create MS‐IMRT plans, the DMLC leaf motions in dynamic IMRT plans of eight lung patients were synchronized with the respiratory motion of breathing period 4 sec and amplitude 2 cm (peak to peak) using an in‐house developed leaf position modification program. The MS‐IMRT plans were generated for the dose rates of 100 MU/min, 400 MU/min, and 600 MU/min. All the MS‐IMRT plans were delivered in a medical linear accelerator, and the fluences were measured using a 2D ion chamber array, placed over a moving platform. The accuracy of MS‐IMRT deliveries was evaluated with respect to static deliveries (no compensation for target motion) using gamma test. In addition, the fluences of gated delivery of 30% duty cycle and non‐MS‐IMRT deliveries were also measured and compared with static deliveries. The MS‐IMRT was better in terms of dosimetric accuracy, compared to gated and non‐MS‐IMRT deliveries. The dosimetric accuracy was observed to be significantly better for 100 MU/min MS‐IMRT. However, the use of high‐dose rate in a MS‐IMRT delivery introduced dose‐rate modulation/beam hold‐offs that affected the synchronization between the DMLC leaf motion and target motion. This resulted in more dose deviations in MS‐IMRT deliveries at the dose rate of 600 MU/min.

PACS numbers: 87.53.kn, 87.56.N‐

Technical approach to individualized respiratory-gated carbon-ion therapy for mobile organs

We propose a strategy of individualized image acquisitions and treatment planning for respiratory-gated carbon-ion therapy. We implemented it in clinical treatments for diseases of mobile organs such as lung cancers at the Gunma University Heavy Ion Medical Center in June 2010. Gated computed tomography (CT) scans were used for treatment planning, and four-dimensional (4D) CT scans were used to evaluate motion errors within the gating window to help define the internal margins (IMs) and planning target volume for each patient. The smearing technique or internal gross tumor volume (IGTV = GTV + IM), where the stopping power ratio was replaced with the tumor value, was used for range compensation of moving targets. Dose distributions were obtained using the gated CT images for the treatment plans. The influence of respiratory motion on the dose distribution was verified with the planned beam settings using 4D CT images at some phases within the gating window before the adoption of the plan. A total of 14 lung cancer patients were treated in the first year. The planned margins with the proposed method were verified with clinical X-ray set-up images by deriving setup and internal motion errors. The planned margins were considered to be reasonable compared with the errors, except for large errors observed in some cases.

Respiratory Gating for Radiotherapy: Main Technical Aspects and Clinical Benefits

Respiratory-gated radiotherapy offers a significant potential for improvement in the irradiation of tumor sites affected by respiratory motion such as lung, breast, and liver tumors. An increased conformality of irradiation fields leading to decreased complication rates of organs at risk is expected. Five main strategies are used to reduce respiratory motion effects: integration of respiratory movements into treatment planning, forced shallow breathing with abdominal compression, breath-hold techniques, respiratory gating techniques, and tracking techniques. Measurements of respiratory movements can be performed either in a representative sample of the general population, or directly on the patient before irradiation. Reduction of breathing motion can be achieved by using either abdominal compression, breath-hold techniques, or respiratory gating techniques. Abdominal compression can be used to reduce diaphragmatic excursions. Breath-hold can be achieved with active techniques, in which airflow of the patient is temporarily blocked by a valve, or passive techniques, in which the patient voluntarily breath-holds. Respiratory gating techniques use external devices to predict the phase of the breathing cycle while the patient breathes freely. Another approach is tumor-tracking technique, which consists of a real-time localization of a constantly moving tumor. This work describes these different strategies and gives an overview of the literature.

Evaluation of the dose variation for prostate heavy charged particle therapy using four-dimensional computed tomography

We quantified dose variation effects due to respiratory-induced intrafractional motion in conventional carbon-ion prostate treatment by using four-dimensional computed tomography (4DCT). 4DCT scans of 20 patients were acquired under free-breathing conditions using a 256 multi-slice CT scanner. The clinical target volume (CTV) was defined as the prostate and the seminal vesicle. Two types of planning target volumes (PTVs) were defined to minimize excessive dose to the rectum. The first PTV (= PTV1) was calculated by adding a 3D uniform margin to the CTV. The second PTV (= PTV2) was cut in a straight line from the top surface of the rectum from PTV1. Compensating boli were designed for the respective PTVs at the peak-exhalation phase, and carbon-ion dose distributions for a single respiratory cycle were calculated using these boli. Dose conformation to prostate, CTV, PTV1 and PTV2 were unchanged for all respiratory phases. The dose for >95% volume irradiation (D95) was 97.7% for prostate, 92.5% for CTV, 74.1% for PTV1 and 96.1% for PTV2 averaged over all patients. The rectum volume at inhalation phase receiving ≤50% of the prescribed dose was smaller than the planning dose due to the abdominal thickness variation. The target dose is not affected by intrafractional respiration in carbon-ion prostate treatment. Small dose variations, however, were observed due to respiratory-induced abdominal thickness variation; therefore the geometrical changes should be considered for prostate particle therapy.