The impact of the ClearRT™ upgrade on target motion tracking accuracy in Radixact® Synchrony® lung treatments

Background

The objective was to investigate the change in segmentation error of Radixact^® Synchrony^® lung treatment after its kV imaging system was upgraded from Generation 1 to Generation 2 in the ClearRT™ installation.

Materials and methods

Radixact^® Lung Synchrony^® plans were created for the Model 18023 Xsight^® Lung Tracking "XLT" Phantom combined with different lung target inserts with densities of 0.280, 0.500, 0.943 and 1.093 g/cc. After Radixact^® Synchrony^® treatment delivery using the Generation 1 and Generation 2 kV systems according to each plan, the tracking performance of the two kV systems on each density insert was compared by calculating the root mean square (RMS) error (δ_RMS) between the Synchrony-predicted motion in the log file and the known phantom motion and by calculating δ95%, the maximum error within a 95% probability threshold.

Results

The δ_RMS and δ95% of Radixact^® Synchrony^® treatment for Gen1 kV systems deteriorated as the density of the target insert decreased, from 1.673 ± 0.064 mm and 3.049 ± 0.089 mm, respectively, for the 1.093 g/cc insert to 8.355 ± 5.873 mm and 15.297 ± 10.470 mm, respectively, for the 0.280 g/cc insert. In contrast, no such trend was observed in the δ_RMS or δ95% of Synchrony^® treatment using the Gen2 kV system. The δ_RMS and δ95%, respectively, fluctuated slightly from 1.586 to 1.687 mm and from 2.874 to 2.971 mm when different target inserts were tracked by the Gen2 kV system.

Conclusion

With improved image contrast in kV radiographs, the Gen2 kV imaging system can enhance the ability to track targets accurately in Radixact^® Lung Synchrony^® treatment and reduce the segmentation error. Our study showed that lung targets with density values as low as 0.280 cc/g could be tracked correctly in Synchrony treatment with the Gen2 kV imaging system.

Performance evaluation of online motion synchronizing systems for patient-specific respiratory movements with helical tomotherapy

BACKGROUND AND PURPOSE

The introduction of online motion synchronizing system on helical tomotherapy paves way for robust motion tracking. A recent upgrade launches modifications on both hardware and software of the kV tracking system. An evaluation on the kV subsystems, prior(Version1) and post upgrade(Version2), was performed to compare tracking accuracy by means of fiducial tracking error and resulted root-mean-square (RMS). Impacts influenced by various patient-specific breathing pattern regularities and target movements were also investigated to refine motion tracking error estimations upon future selection of possible candidates.

MATERIALS AND METHODS

Respiratory patterns from twenty-five lung cases were imported individually into a commercial dynamic platform model. Situating a phantom implanted with gold fiducial markers on the platform, superior-inferior(SI) movements of corresponding targets were simulated. Each case was delivered via an identical treatment plan in Version1 and was repeated in Version2. Motion tracking accuracy, by means of discrepancies between subsystem predicted model and raw data motion recorded in patient CT simulation, was analyzed statistically. Wilcoxon signed ranked test was employed to evaluate the difference in tracking error range between the two versions. Statistical model was fitted to inspect the dependence of internal target movement towards fiducial tracking errors.

RESULTS

A small difference of ±1 mm was exhibited in 99% of fiducial tracking errors for all cases experimented under both versions. RMS errors were all below 0.5 mm. Version2 demonstrated a greater extremity in fiducial tracking error (p=0.04). A positive correlation was depicted between internal target amplitudes and 95% interval of fiducial tracking errors (p< 0.02). Overall, irregular respiratory patterns tended to have greater fiducial tracking errors.

CONCLUSIONS

The excellent tracking performance in both kV subsystem versions offers motion compensations benefits, yet Version1 outperformed Version2 in fiducial tracking accuracy. It is noticeable that greater magnitude in internal target movement and irregular breathing patterns yield greater tracking error.

Clinical implementation of kVCT-guided tomotherapy with ClearRT

A helical fan-beam kilovoltage computed tomography (kVCT) was recently introduced into Tomotherapy units. This study aims to share the initial experience of kVCT in clinical workflow, compare its performance with that of the existing megavoltage computed tomography (MVCT), and explore its potential in adaptive planning. We retrospectively enrolled 23 patients who underwent both MVCT and kVCT scans. The clinical performance data regarding image acquisition time, nominal dose length product (DLP), registration time and registration corrections were extracted and compared. Image quality was scored by six experienced radiation therapists and quantified based on phantom measurements. CT number stability and the implementation of adaptive radiotherapy were dosimetrically evaluated by performing the dose recalculation on kVCT. Compared to MVCT, kVCT significantly reduced DLP (except the highest kVp protocol), image acquisition and registration time. KVCT obtained higher scores than MVCT on all criteria except artifacts. Phantom measurements also revealed a better image performance characterization of kVCT except for image uniformity. The CT number variation could lead to a dose difference of 0.5% for D95% of target and D_mean of organ-at-risk. For the treatment planning with kVCT, a systematic dose difference (> 1%) in PTV dose metrics was observed at regions with large longitudinal density discontinuities compared to the reference plans. The new kVCT imaging provides enhanced soft-tissue visualization. The improved efficiency with kVCT-guided treatment will allow more patients to be treated each day. In most cases, the dose calculation accuracy of kVCT images is acceptable except for regions with severe artifacts.

Using 4D dose accumulation to calculate organ-at-risk dose deviations from motion-synchronized liver and lung tomotherapy treatments

Tracking systems such as Radixact Synchrony change the planned delivery of radiation during treatment to follow the target. This is typically achieved without considering the location changes of organs at risk (OARs). The goal of this work was to develop a novel 4D dose accumulation framework to quantify OAR dose deviations due to the motion and tracked treatment. The framework obtains deformation information and the target motion pattern from a four-dimensional computed tomography dataset. The helical tomotherapy treatment plan is split into 10 plans and motion correction is applied separately to the jaw pattern and multi-leaf collimator (MLC) sinogram for each phase based on the location of the target in each phase. Deformable image registration (DIR) is calculated from each phase to the references phase using a commercial algorithm, and doses are accumulated according to the DIR. The effect of motion synchronization on OAR dose was analyzed for five lung and five liver subjects by comparing planned versus synchrony-accumulated dose. The motion was compensated by an average of 1.6 cm of jaw sway and by an average of 5.7% of leaf openings modified, indicating that most of the motion compensation was from jaw sway and not MLC changes. OAR dose deviations as large as 19 Gy were observed, and for all 10 cases, dose deviations greater than 7 Gy were observed. Target dose remained relatively constant (D95% within 3 Gy), confirming that motion-synchronization achieved the goal of maintaining target dose. Dose deviations provided by the framework can be leveraged during the treatment planning process by identifying cases where OAR doses may change significantly from their planned values with respect to the critical constraints. The framework is specific to synchronized helical tomotherapy treatments, but the OAR dose deviations apply to any real-time tracking technique that does not consider location changes of OARs.

Dosimetric impact of phase shifts on Radixact Synchrony tracking system with patient-specific breathing patterns

Purpose

The Synchrony tracking system of Radixact is capable of real‐time tumor tracking by building a correlation model between external light‐emitting diodes on the patient's chest and an internal marker. A phase shift between the chest wall and a lung tumor has been reported. Hence, this study focused on evaluating the accuracy of the tracking system, especially under a patient‐specific breathing pattern with respiratory phase shifts.

Methods

A phantom containing fiducial markers was placed on a moving platform. The intrinsic delivery accuracy was verified with a patient‐specific breathing pattern. Three patient‐specific breathing patterns were then implemented, for which phase shifts, φ, were introduced. Phase shifts with +0.3 s and +1 s were tested for dosimetric aspects, whereas ±0.3, ±0.6, and ±0.8 s shifts were used for tracking accuracy. The resultant dose distributions were analyzed by γ comparison. Dose profiles in the superior‐inferior and lateral directions were compared. Logfiles of the tracking information were extracted from the system and compared with the input breathing pattern. The root mean square (RMS) difference was used to quantify the consistency.

Results

When the φ value was as large as 1 s, a severe inconsistency was observed. The target was significantly underdosed, down to 89% of the originally planned dose. γ analysis revealed that the failed portion was concentrated in the target region. The RMS of the tracking difference was close to 1 mm when φ was ±0.3 s and approximately 4 mm when φ was ±0.8 s. Tracking errors increased with an increase in the degree of phase shifts.

Conclusion

Phase shifts between the patient chest wall and the internal target may hamper treatment delivery and jeopardize treatment using Synchrony Tracking. Hence, a larger planning target volume (PTV) may be necessary if a large phase shift is observed in a patient, especially when an external surrogate shows a lag in motion when compared with the tumor.

Fiducial visibility on planar images during motion-synchronized tomotherapy treatments

Objective. Synchrony^®is a motion management system on the Radixact^®that uses planar kV radiographs to locate the target during treatment. The purpose of this work is to quantify the visibility of fiducials on these radiographs.Approach. A custom acrylic slab was machined to hold 8 gold fiducials of various lengths, diameters, and orientations with respect to the imaging axis. The slab was placed on the couch at the imaging isocenter and planar radiographs were acquired perpendicular to the custom slab with varying thicknesses of acrylic on each side. Fiducial signal to noise ratio (SNR) and detected fiducial position error in millimeters were quantified.Main Results. The minimum output protocol (100 kVp, 0.8 mAs) was sufficient to detect all fiducials on both Radixact configurations when the thickness of the phantom was 20 cm. However, no fiducials for any protocol were detected when the phantom was 50 cm thick. The algorithm accurately detected fiducials on the image when the SNR was larger than 4. The MV beam was observed to cause RFI artifacts on the kV images and to decrease SNR by an average of 10%.Significance. This work provides the first data on fiducial visibility on kV radiographs from Radixact Synchrony treatments. The Synchrony fiducial detection algorithm was determined to be very accurate when sufficient SNR is achieved. However, a higher output protocol may need to be added for use with larger patients. This work provided groundwork for investigating visibility of fiducial-free solid targets in future studies and provided a direct comparison of fiducial visibility on the two Radixact configurations, which will allow for intercomparison of results between configurations.

Comparison of modeling accuracy between Radixact®and CyberKnife®Synchrony®respiratory tracking system

Synchrony Respiratory Tracking system adapted from CyberKnife has been introduced in Radixact to compensate the tumor motion caused by respiration. This study aims to compare the modeling accuracy of the Synchrony system between Radixact and CyberKnife. Two Synchrony plans based on fiducial phantoms were created for CyberKnife and Radixact, respectively. Different respiratory motion traces were used to drive a motion platform to move along the superoinferior and left-right direction. The cycle time and the amplitude of target/surrogate motion of one selected motion trace were scaled to investigate the dependence of modeling accuracy on the motion characteristic. The predicted target position, the correlation error, potential difference (Radixact only) and standard error (CyberKnife only) were extracted from raw data or log files of the two systems. The modeling accuracy was evaluated by calculating the root-mean-square (RMS) error between the predicted target positions and the input motion trace. A threshold T95 within which 95% of the potential difference or the standard error lay was defined and evaluated. Except for the motion trace with a small amplitude and a good (linear) correlation between target and surrogate motion, Radixact showed smaller RMS errors than CyberKnife. The RMS error of both systems increased with the motion amplitude and showed a decreasing trend with the increasing cycle time. No correlation was found between the RMS error and the amplitude of surrogate motion. T95 could be a good estimator of modeling accuracy for CyberKnife rather than Radixact. The correlation error defined in Radixact were largely affected by the number of fiducial markers and the setup error. In general, the modeling accuracy of the Radixact Synchrony system is better than that of the CyberKnife Synchrony system under unfavorable conditions.

Technical note: On the impact of the kV imaging configuration on doses from planar images during motion-synchronized treatments on Radixact®

Kilovoltage radiographs are acquired during motion‐synchronized treatments on Radixact to localize the tumor during the treatment. Several previous publications have provided estimates of patient dose from these planar radiographs. However, a recent hardware update changed several aspects of the kV imaging system, including a new X‐ray tube, an extended source‐to‐axis distance (SAD), and a larger field size. This is denoted the extended configuration. The purpose of this work was to assess the impact of the configuration change on patient dose from these procedures. Point doses in water were measured using the TG‐61 protocol for tube potentials between 100 and 140 kVp for both the standard and extended configurations under the same water tank setup. Comparisons were made for equal mAs since the same protocols (kVp, mAs) will be used for both configurations. In comparison to the standard configuration, doses per mAs from the extended configuration were found to be ~66% less and falloff less steep due to the increased SAD. However, a larger volume of tissue is irradiated due to the larger field size. Beam quality for a given tube potential was the same as determined by half‐value layer measurements. Both kV configurations are available from the vendor, therefore, the values in this work can be used to compare values previously published in the literature for the standard configuration or to intercompare doses from these two system configurations.

Technical Note: Patient dose from kilovoltage radiographs during motion-synchronized treatments on Radixact®

PURPOSE

Synchrony is a motion management system available on the Radixact linear accelerator that utilizes kilovoltage (kV) radiographs to track target motion and synchronize the delivery of radiation with the motion. Proper management of this imaging dose requires accurate quantification. The purpose of this work was to use Monte Carlo (MC) simulations to quantify organ-specific patient doses from these images for various patient anatomies.

METHODS

Point doses in water were measured per TG-61 for three beam qualities commonly used on the Radixact. The point doses were used to benchmark a model of the imaging system built using the Monte Carlo N-Particle (MCNP) transport code. Patient computed tomography (CT) datasets were obtained for 5 patients and 100 planar images were simulated for each patient. Patient dose was calculated using energy deposition mesh tallies.

RESULTS

The MCNP model was able to accurately reproduce the measured point doses, with a median dose difference of less than 1%. The median dose (D_50% ) to soft tissue from 100 radiographs among the 5 patient cases ranged from 2.0 to 4.6 mGy. The max dose (D_1% ) to soft tissue ranged from 6.2 to 31.0 mGy and the max dose to bony structures ranged from 20.2 to 71.7 mGy. These doses can be scaled to estimate total patient dose throughout many fractions.

CONCLUSIONS

Patient dose is largely dependent on imaging protocol, patient size, and treatment parameters such as fractionation and gantry period. Organ doses from 100 radiographs (an approximate number for one fraction) on the Radixact are slightly less than the doses from Tomo MVCT setup images. Careful selection of clinical protocols and planning parameters can be used to minimize risk from these images.

Long-term dosimetric stability of multiple TomoTherapy delivery systems

The dosimetric stability of six TomoTherapy units was analyzed to investigate changes in performance over time and with system upgrades. Energy and output were tracked using monitor chamber signal, onboard megavoltage computed tomography (MVCT) detector profile, and external ion chamber measurements. The systems (and monitoring periods) include three Hi-Art (67, 61, and 65 mos.), two TomoHDA (31 and 26 mos.), and one Radixact unit (11 mos.), representing approximately 10 years of clinical use. The four newest systems use the Dose Control Stability (DCS) system and Fixed Target Linear Accelerator (linac) (FTL). The output stability is reported as deviation from reference monitor chamber signal for all systems and/or from an external chamber signal. The energy stability was monitored using relative (center versus off-axis) MVCT detector signal (beam profile) and/or the ratio of chamber measurements at 2 depths. The clinical TomoHDA data were used to benchmark the Radixact stability, which has the same FTL but runs at a higher dose rate. The output based on monitor chamber data of all systems is very stable. The standard deviation of daily output on the non-DCS systems was 0.94-1.52%. As expected, the DCS systems had improved standard deviation: 0.004-0.06%. The beam energy was also very stable for all units. The standard deviation in profile flatness was 0.23-0.62% for rotating target systems and 0.04-0.09% for FTL. Ion chamber output and PDD ratios supported these results. The output stability on the Radixact system during extended treatment delivery (20, 30, and 40 min) was comparable to a clinical TomoHDA system. For each system, results are consistent between different measurement tools and techniques, proving not only the dosimetric stability, but also these quality parameters can be confirmed with various metrics. The replacement history over extended time periods of the major dosimetric components of the different delivery systems (target, linac, and magnetron) is also reported.