Accuracy of radiotherapy dose calculations based on cone-beam CT: comparison of deformable registration and image correction based methods

Radiotherapy dose calculations based on cone-beam CT (CBCT) images can be inaccurate due to unreliable Hounsfield units (HU) in the CBCT. Deformable image registration of planning CT images to CBCT, and direct correction of CBCT image values are two methods proposed to allow heterogeneity corrected dose calculations based on CBCT. In this paper we compare the accuracy and robustness of these two approaches. CBCT images for 44 patients were used including pelvis, lung and head & neck sites. CBCT HU were corrected using a 'shading correction' algorithm and via deformable registration of planning CT to CBCT using either Elastix or Niftyreg. Radiotherapy dose distributions were re-calculated with heterogeneity correction based on the corrected CBCT and several relevant dose metrics for target and OAR volumes were calculated. Accuracy of CBCT based dose metrics was determined using an 'override ratio' method where the ratio of the dose metric to that calculated on a bulk-density assigned version of the same image is assumed to be constant for each patient, allowing comparison to the patient's planning CT as a gold standard. Similar performance is achieved by shading corrected CBCT and both deformable registration algorithms, with mean and standard deviation of dose metric error less than 1% for all sites studied. For lung images, use of deformed CT leads to slightly larger standard deviation of dose metric error than shading corrected CBCT with more dose metric errors greater than 2% observed (7% versus 1%).

Comprehensive Monte Carlo study of patient doses from cone-beam CT imaging in radiotherapy

Accurate knowledge of ionizing radiation dose from cone-beam CT (CBCT) imaging in radiotherapy is important to allow concomitant risks to be estimated and for justification of imaging exposures. This study uses a Monte Carlo CBCT model to calculate imaging dose for a wide range of imaging protocols for male and female patients. The Elekta XVI CBCT system was modeled using GATE and simulated doses were validated against measurements in a water tank and thorax phantom. Imaging dose was simulated in the male and female ICRP voxel phantoms for a variety of anatomical sites and imager settings (different collimators, filters, full and partial rotation). The resulting dose distributions were used to calculate effective doses for each scan protocol. The Monte Carlo simulated doses agree with validation measurements within 5% and 10% for water tank and thorax phantom respectively. Effective dose for head CBCT scans was generally lower for scans centred on the pituitary than the larynx (0.03 mSv versus 0.06 mSv for male ICRP phantom). Pelvis CBCT scan effective dose was higher for the female than male phantom (5.11 mSv versus 2.80 mSv for M15 collimator scan), principally due to the higher dose received by gonads for the female scan. Medium field of view thorax scan effective doses ranged from 1.38-3.19 mSv depending on scan length and phantom sex. Effective dose for half rotation thorax scans with offset isocentre varied by almost a factor of three depending on laterality of the isocentre, patient sex and imaged field length. The CBCT imaging doses simulated here reveal large variations in dose depending on imaging isocentre location, patient sex and partial rotation angles. This information may be used to estimate risks from CBCT and to optimize CBCT imaging protocols.

Automatic tracking of implanted fiducial markers in cone beam CT projection images

PURPOSE

This paper describes a novel method for simultaneous intrafraction tracking of multiple fiducial markers. Although the proposed method is generic and can be adopted for a number of applications including fluoroscopy based patient position monitoring and gated radiotherapy, the tracking results presented in this paper are specific to tracking fiducial markers in a sequence of cone beam CT projection images.

METHODS

The proposed method is accurate and robust thanks to utilizing the mean shift and random sampling principles, respectively. The performance of the proposed method was evaluated with qualitative and quantitative methods, using data from two pancreatic and one prostate cancer patients and a moving phantom. The ground truth, for quantitative evaluation, was calculated based on manual tracking preformed by three observers.

RESULTS

The average dispersion of marker position error calculated from the tracking results for pancreas data (six markers tracked over 640 frames, 3840 marker identifications) was 0.25 mm (at iscoenter), compared with an average dispersion for the manual ground truth estimated at 0.22 mm. For prostate data (three markers tracked over 366 frames, 1098 marker identifications), the average error was 0.34 mm. The estimated tracking error in the pancreas data was < 1 mm (2 pixels) in 97.6% of cases where nearby image clutter was detected and in 100.0% of cases with no nearby image clutter.

CONCLUSIONS

The proposed method has accuracy comparable to that of manual tracking and, in combination with the proposed batch postprocessing, superior robustness. Marker tracking in cone beam CT (CBCT) projections is useful for a variety of purposes, such as providing data for assessment of intrafraction motion, target tracking during rotational treatment delivery, motion correction of CBCT, and phase sorting for 4D CBCT.

A megavoltage scatter correction technique for cone-beam CT images acquired during VMAT delivery

Kilovoltage cone-beam CT (kV CBCT) can be acquired during the delivery of volumetric modulated arc therapy (VMAT), in order to obtain an image of the patient during treatment. However, the quality of such CBCTs is degraded by megavoltage (MV) scatter from the treatment beam onto the imaging panel. The objective of this paper is to introduce a novel MV scatter correction method for simultaneous CBCT during VMAT, and to investigate its effectiveness when compared to other techniques. The correction requires the acquisition of a separate set of images taken during VMAT delivery, while the kV beam is off. These images--which contain only the MV scatter contribution on the imaging panel--are then used to correct the corresponding kV/MV projections. To test this method, CBCTs were taken of an image quality phantom during VMAT delivery and measurements of contrast to noise ratio were made. Additionally, the correction was applied to the datasets of three VMAT prostate patients, who also received simultaneous CBCTs. The clinical image quality was assessed using a validated scoring system, comparing standard CBCTs to the uncorrected simultaneous CBCTs and a variety of correction methods. Results show that the correction is able to recover some of the low and high-contrast signal to noise ratio lost due to MV scatter. From the patient study, the corrected CBCT scored significantly higher than the uncorrected images in terms of the ability to identify the boundary between the prostate and surrounding soft tissue. In summary, a simple MV scatter correction method has been developed and, using both phantom and patient data, is shown to improve the image quality of simultaneous CBCTs taken during VMAT delivery.

Next generation optical surface sensing for real-time measurement in radiotherapy

With the introduction of intensive new treatments such as hypo-fractionation and proton beam therapy, localization of the tumor target volume and tracking of points across the skin entrance surface have become critically important. Optical metrology has been used to monitor the patient's bulk position and motion throughout treatment. However systems have not been capable of high temporal and spatial resolution whole-surface topology measurement. We describe the implementation of such a system based on Fourier profilometry. Its algorithm is split into four separate processing stages, including spatial phase determination: descriptions of each stage are given along with the modifications made to increase performance. The optimized system is capable of processing 23 frames per second (fps), with each frame providing 512 × 512 measured points. The data density, accuracy and performance of the system are an order of magnitude improvement on commercially available clinical systems. We show that this performance permits genuinely real-time measurement of a patient, live during both setup and radiation treatment delivery. It is also fast enough to provide smooth dynamic visualizations of motion at all points on the wrap-around body surface for radiotherapy staff and intuitive, direct feed-back to patients.

Reduction of motion artefacts in on-board cone beam CT by warping of projection images

OBJECTIVE

We describe the development and testing of a motion correction method for flat panel imager-based cone beam CT (CBCT) based on warping of projection images.

METHODS

Markers within or on the surface of the patient were tracked and their mean three-dimensional (3D) position calculated. The two-dimensional (2D) cone beam projection images were then warped before reconstruction to place each marker at the projection from its mean 3D position. The motion correction method was tested using simulated cone beam projection images of a deforming virtual phantom, real CBCT images of a moving breast phantom and clinical CBCT images of a patient with breast cancer and another with pancreatic cancer undergoing radiotherapy.

RESULTS

In phantom studies, the method was shown to greatly reduce motion artefacts in the locality of the radiotherapy target and allowed the true surface shape to be accurately recovered. The breast phantom motion-compensated surface was within 1 mm of the true surface shape for 90% of surface points and greater than 2 mm from the true surface at only 2% of points. Clinical CBCT images showed improved image quality in the locality of the radiotherapy target after motion correction.

CONCLUSION

The proposed method is effective in reducing motion artefacts in CBCT images.

Shading correction algorithm for improvement of cone-beam CT images in radiotherapy

Cone-beam CT (CBCT) images have recently become an established modality for treatment verification in radiotherapy. However, identification of soft-tissue structures and the calculation of dose distributions based on CBCT images is often obstructed by image artefacts and poor consistency of density calibration. A robust method for voxel-by-voxel enhancement of CBCT images using a priori knowledge from the planning CT scan has been developed and implemented. CBCT scans were enhanced using a low spatial frequency grey scale shading function generated with the aid of a planning CT scan from the same patient. This circumvents the need for exact correspondence between CBCT and CT and the process is robust to the appearance of unshared features such as gas pockets. Enhancement was validated using patient CBCT images. CT numbers in regions of fat and muscle tissue in the processed CBCT were both within 1% of the values in the planning CT, as opposed to 10-20% different for the original CBCT. Visual assessment of processed CBCT images showed improvement in soft-tissue visibility, although some cases of artefact introduction were observed.

Cone beam CT with zonal filters for simultaneous dose reduction, improved target contrast and automated set-up in radiotherapy

Cone beam CT (CBCT) using a zonal filter is introduced. The aims are reduced concomitant imaging dose to the patient, simultaneous control of body scatter for improved image quality in the tumour target zone and preserved set-up detail for radiotherapy. Aluminium transmission diaphragms added to the CBCT x-ray tube of the Elekta Synergytrade mark linear accelerator produced an unattenuated beam for a central "target zone" and a partially attenuated beam for an outer "set-up zone". Imaging doses and contrast noise ratios (CNR) were measured in a test phantom for transmission diaphragms 12 and 24 mm thick, for 5 and 10 cm long target zones. The effect on automatic registration of zonal CBCT to conventional CT was assessed relative to full-field and lead-collimated images of an anthropomorphic phantom. Doses along the axis of rotation were reduced by up to 50% in both target and set-up zones, and weighted dose (two thirds surface dose plus one third central dose) was reduced by 10-20% for a 10 cm long target zone. CNR increased by up to 15% in zonally filtered CBCT images compared to full-field images. Automatic image registration remained as robust as that with full-field images and was superior to CBCT coned down using lead-collimation. Zonal CBCT significantly reduces imaging dose and is expected to benefit radiotherapy through improved target contrast, required to assess target coverage, and wide-field edge detail, needed for robust automatic measurement of patient set-up error.