A general methodology for three-dimensional analysis of variation in target volume delineation

A generic method for three-dimensional (3-D) evaluation of target volume delineation in multiple imaging modalities is presented. The evaluation includes geometrical and statistical methods to estimate observer differences and variability in defining the Gross Tumor Volume (GTV) in relation to the diagnostic CT and MRI modalities. The geometrical method is based on mapping the 3-D shape of the target volume to a scalar representation, thus enabling a one-dimensional statistical analysis. The statistical method distinguishes observer and modality related uncertainties, which are expressed in terms of three error components: random observer deviations, systematic observer differences, and systematic modality differences. Monte Carlo simulations demonstrate that the standard errors of each of the three model parameters are inversely proportional to the square root of the product of the patient group size and the number of observers and proportional to the intraobserver variation. For 18 patients and 3 observers the standard errors of the estimated systematic modality and observer differences are 19% and 14% of the intraobserver standard deviation, respectively. A scalar representation of the shape of the prostate, delineated by 3 observers for 18 patients, was obtained by sampling the distance between the average center of gravity of the prostate in CT and the prostate surface for a large number of directions (2500), using polar coordinates. Observer variability and differences were obtained by applying the statistical method to the samples independently. The intraobserver variation for CT was largest in regions near the seminal vesicles (s.d: 3 mm) and the apex (s.d: 3 mm). The systematic observer variation in CT was largest in a region near the plexus Santorini, at the caudal-anterior side of the prostate (s.d.: 2 mm). The sensitivity for the choice of origin was tested by using the average center of gravity from axial MRI instead of CT. The results were almost identical. The polar map measures distances in the scanning directions. A correction procedure to get the variability in directions perpendicular to the surface of the prostate yielded variations that were a factor of 0.85 smaller for all directions. It is concluded that by separating the shape evaluation in a geometrical and a statistical part, the complexity of the analysis of 3-D shape differences can be significantly reduced. The method was successfully applied to a group of prostate patients, where we demonstrated that delineation variability is nonhomogeneous, with the largest variations occurring near the seminal vesicles and the apex.

Quantification and predictors of prostate position variability in 50 patients evaluated with multiple CT scans during conformal radiotherapy

PURPOSE

To determine the extent and predictors for prostatic motion in a large number of patients evaluated with multiple CT scans during radiotherapy, and evaluate the implications of these data on the design of appropriate treatment margins for patients receiving high-dose three-dimensional conformal radiotherapy.

MATERIALS AND METHODS

Fifty patients underwent four serial computerized tomography (CT) scans, consisting of an initial planning scan and subsequent scans at the beginning, middle, and end of the treatment course. Each scan was performed with the patient in the prone treatment position within an immobilization device used during therapy. Contours of the prostate and seminal vesicles were drawn on the axial CT slices of each scan, and the scans were matched by alignment of the pelvic bones with a chamfer matching algorithm. Using the contour information, distributions of the displacement of the organ center of mass and organ border from the planning position were determined separately for the prostate and seminal vesicles in each of the three principle directions: anterior-posterior (AP), superior-inferior (SI) and left-right (LR). Each distribution was fitted to a normal (Gaussian) distribution to determine confidence limits in the center of mass and border displacements and thereby evaluate for the optimal margins needed to contain target motion.

RESULTS

The most common directions of displacement of the prostate center of mass (COM) were in the AP and SI directions and were significantly larger than any LR movement. The mean prostate COM displacement (+/- 1 standard deviation, SD) for the entire population was -1.2 +/- 2.9 mm, -0.5 +/- 3.3 mm and -0.6 +/- 0.8 mm in the, AP and SI and LR directions respectively (negative values indicate posterior, inferior or left displacement). The mean (+/- 1 SD) seminal vesicle COM displacement for the entire population was - 1.4 +/- 4.9 mm, 1.3 +/- 5.5 mm and -0.8 +/- 3.1 mm in the AP and SI and LR directions, respectively. The data indicate a tendency for the population towards posterior displacements of the prostate from the planning position and both posterior and superior displacements of the seminal vesicles. AP movement of both the prostate and seminal vesicles were correlated with changes in rectal volume (P = 0.0014 and < 0.0001, respectively) more than with changes in bladder volume (P = 0.030 for seminal vesicles and 0.19 for prostate). A logistic regression analysis identified the combination of rectal volume > 60 cm3 and bladder volumes > 40 cm3 as the only predictor of large ( > 3 mm) systematic deviations for the prostate and seminal vesicles (P = 0.05) defined for each patient as the difference between organ position in the planning scan and mean position as calculated from the three subsequent scans.

CONCLUSIONS

Prostatic displacement during a course of radiotherapy is more pronounced among patients with initial planning scans with large rectal and bladder volumes. Such patients may require more generous margins around the CTV to assure its enclosure within the prescription dose region. Identification and correction of patients with large systematic errors will minimize the extent of the margin required and decrease the volume of normal tissue exposed to higher radiation doses.

Computerized design of target margins for treatment uncertainties in conformal radiotherapy

PURPOSE

We describe a computerized method of determining target margins for beam aperture design in conformal radiotherapy plans.

MATERIALS AND METHODS

The method uses previously measured data from a population of patients to simulate setup error and organ motion in the patient currently being planned. Starting with a clinical target volume (CTV) and nontarget organs from the patient's planning CT scan, the simulation is repeated many times to produce a spatial probability distribution for each organ in the treatment machine coordinate system. This is used to determine a prescribed dose volume (PDV), defined as the volume to receive the prescribed dose, which encompasses the CTV while restricting the volume of nontarget organs within it, according to planner-specified values. The PDV is used to design beam apertures using a conventional margin for beam penumbra.

RESULTS

The method is applied to 6-field prostate conformal treatment plans, in which the PDV encloses the prostate and seminal vesicles while limiting the enclosed rectal wall volume. The effect of organ motion is assessed by applying the plans on subsequent CT scans of the same patients, calculating probabilities for tumor control (TCP) and normal tissue complication (NTCP), and comparing with plans designed from a physician-drawn planning target volume (PTV). Although prostate TCP and rectal wall NTCP are found to be similar in the two sets of plans, TCP for the seminal vesicles is significantly higher in the PDV-based plans.

CONCLUSIONS

The method can improve the dose conformality of treatment plans by incorporating population-based measurements of treatment uncertainties and consideration of nontarget tissues in the design of nonuniform target margins.

Definition of the prostate in CT and MRI: a multi-observer study

PURPOSE

To determine, in three-dimensions, the difference between prostate delineation in magnetic resonance (MR) and computer tomography (CT) images for radiotherapy treatment planning.

PATIENTS AND METHODS

Three radiation oncologists, considered experts in the field, outlined the prostate without seminal vesicles both on CT, and axial, coronal, and sagittal MR images for 18 patients. To compare the resulting delineated prostates, the CT and MR scans were matched in three-dimensions using chamfer matching on bony structures. The volumes were measured and the interscan and interobserver variation was determined. The spatial difference between delineation in CT and MR (interscan variation) as well as the interobserver variation were quantified and mapped three-dimensionally (3D) using polar coordinates. A urethrogram was performed and the location of the tip of the dye column was compared with the apex delineated in CT and MR images.

RESULTS

Interscan variation: CT volumes were larger than the axial MR volumes in 52 of 54 delineations. The average ratio between the CT and MR volumes was 1.4 (standard error of mean, SE: 0.04) which was significantly different from 1 (p < 0.005). Only small differences were observed between the volumes outlined in the various MR scans, although the coronal MR volumes were smallest. The CT derived prostate was 8 mm (standard deviation, SD: 6 mm) larger at the base of the seminal vesicles and 6 mm (SD 4 mm) larger at the apex of the prostate than the axial MRI. Similar figures were obtained for the CT and the other MRI scans. Interobserver variation: The average ratio between the volume derived by one observer for a particular scan and patient and the average volume was 0.95, 0.97, and 1.08 (SE 0.01) for the three observers, respectively. The 3D pattern of the overall observer variation (1 SD) for CT and axial MRI was similar and equal to 3.5 to 2.8 mm at the base of the seminal vesicles and 3 mm at the apex.

CONCLUSION

CT-derived prostate volumes are larger than MR derived volumes, especially toward the seminal vesicles and the apex of the prostate. This interscan variation was found to be larger than the interobserver variation. Using MRI for delineation of the prostate reduces the amount of irradiated rectal wall, and could reduce rectal and urological complications.

Automatic registration of pelvic computed tomography data and magnetic resonance scans including a full circle method for quantitative accuracy evaluation

The purpose of this study is to develop a method for registration of CT and MR scans of the pelvis with minimal user interaction and to obtain a means for objective quantification of the registration accuracy of clinical data without markers. CT scans were registered with proton density MR scans using chamfer matching on automatically segmented bone. A fixed threshold was used to segment CT, while morphological filters were used to segment MR. The method was tested with transverse and coronal MR scans of 18 patients and sagittal MR scans of 8 patients. The registration accuracy was estimated by comparing (triangulating) registrations of a single CT scan with MR in different orientations in a "full circle." For example, CT is first matched on transverse MR, next transverse MR is matched independently on coronal MR, and finally coronal MR is matched independently on CT. The product of the three transformations is the identity if all matching steps are perfect. Deviations from identity occur both due to random errors and due to some types of systematic errors. MR was registered on MR (to close the "circle") by minimization of rms voxel value differences. CT-MR registration takes about 1 min, including user interaction. The random error for CT-MR registration with transverse or coronal MR was 0.5 mm in translation and 0.4 degree in rotation (standard deviation) for each axis. A systematic registration error of about 1 mm was demonstrated along the MR frequency encoding direction, which is attributed to the chemical shift. In conclusion, the presented algorithm efficiently and accurately registers pelvic CT and MR scans on bone. The "full circle" method provides an estimate of the registration accuracy on clinical data.

First clinical tests using a liquid-filled electronic portal imaging device and a convolution model for the verification of the midplane dose

BACKGROUND AND PURPOSE

Recently, algorithms have been developed to derive the patient dose from portal dose measurements using a liquid-filled electronic portal imaging device. These algorithms have already been validated for several phantom geometries irradiated under clinical conditions. It is the aim of the present study to investigate the applicability of a liquid-filled electronic portal imaging device in combination with these algorithms for two-dimensional midplane dose verification in clinical practice.

MEASUREMENTS AND METHODS

Portal dose images were obtained during several patient treatments under routine clinical conditions. Measurements were performed to verify the midplane dose during radiotherapy of larynx cancer with 4 MV beams, breast and lung cancer with 8 MV beams and prostate cancer with both 8 and 18 MV beams. Midplane doses, determined from portal dose measurements and analyzed with our algorithms, were compared with midplane doses calculated with our three-dimensional (3D) treatment planning system (TPS).

RESULTS

For the larynx treatment the measured 2D midplane dose agreed within 2.0% with TPS calculations in most parts of the field. Larger differences were found in a small region below the skin due to the absence of electron equilibrium, which is not taken into account in our portal dose analysis. For breast irradiations the measured midplane dose showed a homogeneous distribution in the AP direction in the axial plane, while high dose regions were observed in the cranial and caudal part of the breast. Portal dose measurements and TPS calculations agreed within 2.5% for most of the prostate and lung irradiations. For a few of the prostate and lung treatments larger local differences were found due to differences between the actual patient anatomy and the planning CT data, e.g. as a result of variable gas filling in the rectum and anatomical changes in the lung.

CONCLUSIONS

Portal dose measurements with a liquid-filled electronic portal imaging device can be used to determine the 2D midplane dose for various treatment sites in clinical practice. Portal in vivo dosimetry has proven to be important in detecting changes in the patient's anatomy and its influence on the dose delivery. It is concluded that portal dosimetry is an excellent tool for accurate and independent verification of the dose in the entire (2D) midplane during patient treatment. However, a limited number of patients were involved in this study and the results are therefore preliminary. More research is needed to fully assess the clinical value of portal dose measurements.

Automatic three-dimensional matching of CT-SPECT and CT-CT to localize lung damage after radiotherapy

The aim of this study was to develop a fast and clinically robust automatic method to register SPECT and CT scans of the lungs.

METHODS

CT and SPECT scans were acquired in the supine position from 20 patients with healthy lungs. After partial irradiation of the lungs by radiotherapy, the scans were repeated. Two matching methods were compared: a conventional method with external skin markers and a new method using chamfer matching of the lung contours. In the latter method, a unique value for the SPECT threshold, needed for segmentation of the SPECT lungs, was determined by iteratively applying the chamfer matching algorithm.

RESULTS

The new technique for CT-SPECT matching could be implemented in a fully automatic manner and required less than 2 min. No large systematic shifts or rotations were present between the matches obtained with the marker method and the lung contour method for healthy or partially irradiated lungs. For healthy lungs, the number of ventilation SPECT counts outside the CT-defined lung was taken as a measure for a good match. This number of outside counts was slightly lower for the new method than for the conventional method, which indicates that the accuracy of the new method is at least comparable to the conventional method. For ventilation, a systematic difference between the results of the matching methods, a small translation in the anterior --> posterior direction, could be attributed to an inconsistency of the marker positions (2 mm). For perfusion, a somewhat larger anterior --> posterior shift was found, which was attributed to the gravity force. CT-CT correlation on the lung contours using chamfer matching was tested with the same dataset. For accurate matching, the CT slices encompassing the diaphragm had to be deleted.

CONCLUSION

The new method based on lung contour matching is a fast, automatic procedure and allows accurate clinical follow-up.

Registration of MR and SPECT without using external fiducial markers

The aim of our work is to present, test and validate an automated registration method used for matching brain SPECT scans with corresponding MR scans. The method was applied on a data set consisting of ten brain IDEX SPECT scans and ten T1- and T2-weighted MR scans of the same subjects. Of two subjects a CT scan was also made. (Semi-) automated algorithms were used to extract the brain from the MR, CT and SPECT images. Next, a surface registration technique called chamfer matching was used to match the segmented brains. A perturbation study was performed to determine the sensitivity of the matching results to the choice of the starting values. Furthermore, the SPECT segmentation threshold was varied to study its effect on the resulting parameters and a comparison between the use of MR T1- and T2-weighted images was made. Finally, the two sets of CT scans were used to estimate the accuracy by matching MR to CT and comparing the MR-SPECT match to the SPECT-CT match. The perturbation study showed that for initial perturbations up to 6 cm the algorithm fails in less than 4% of the cases. A variation of the SPECT segmentation threshold over a realistic range (25%) caused an average variation in the optimal match of 0.28 cm vector length. When T2 is used instead of T1 the stability of the algorithm is comparable but the results are less realistic due the large deformations. Finally, a comparison of the direct SPECT-MR match and the indirect match with CT as intermediate yields a discrepancy of 0.4 cm vector length. We conclude that the accuracy of our automatic matching algorithm for SPECT and MR, in which no external markers were used, is comparable to the accuracies reported in the literature for non-automatic methods or methods based on external markers. The proposed method is efficient and insensitive to small variations in SPECT segmentation.

New method to obtain the midplane dose using portal in vivo dosimetry

PURPOSE

The aim of this study was to develop a method to derive the midplane dose [i.e., the two-dimensional (2D) dose distribution in the middle of a patient irradiated with high-energy photon beams] from transmission dose data measured with an electronic portal imaging device (EPID). A prerequisite for this method was that it could be used without additional patient information (i.e., independent of a treatment-planning system). Second, we compared the new method with several existing (conventional) methods that derive the midline dose from entrance and exit dose measurements.

METHODS AND MATERIALS

The proposed method first calculates the 2D contribution of the primary and scattered dose component at the exit side of the patient or phantom from the measured transmission dose. Then, a correction is applied for the difference in contribution for both dose components between exit side and midplane, yielding the midplane dose. To test the method, we performed EPID transmission dose measurements and entrance, midplane, and exit dose measurements using an ionization chamber in homogeneous and symmetrical inhomogeneous phantoms. The various methods to derive the midplane dose were also tested for asymmetrical inhomogeneous phantoms applying two opposing fields. A number of combinations of inhomogeneities (air, cork, and aluminum), phantom thicknesses, field sizes, and a few irregularly shaped fields were investigated, while each experiment was performed in 4-, 8-, and 18-MV open and wedged beams.

RESULTS

Our new method can be used to assess the midplane dose for most clinical situations within 2% relative to ionization chamber measurements. Similar results were found with other methods. In the presence of large asymmetrical inhomogeneities (e.g., lungs), discrepancies of about 8% have been found (for small field sizes) using our transmission dose method, owing to the absence of lateral electron equilibrium. Applying the other methods, differences between predicted and measured midplane doses were even larger, up to 10%. For large field sizes, the agreement between measured and predicted midplane dose was within 3% using our transmission dose method.

CONCLUSIONS

Using our new method, midplane doses were estimated with a similar or higher accuracy compared with existing conventional methods for in vivo dosimetry. The advantage of our new method is that the midplane dose can be determined in the entire (2D) field. With our method, portal in vivo dosimetry is an accurate alternative for conventional in vivo dosimetry.

The potential impact of CT-MRI matching on tumor volume delineation in advanced head and neck cancer

PURPOSE

To study the potential impact of the combined use of CT and MRI scans on the Gross Tumor Volume (GTV) estimation and interobserver variation.

METHODS AND MATERIALS

Four observers outlined the GTV in six patients with advanced head and neck cancer on CT, axial MRI, and coronal or sagittal MRI. The MRI scans were subsequently matched to the CT scan. The interobserver and interscan set variation were assessed in three dimensions.

RESULTS

The mean CT derived volume was a factor of 1.3 larger than the mean axial MRI volume. The range in volumes was larger for the CT than for the axial MRI volumes in five of the six cases. The ratio of the scan set common (i.e., the volume common to all GTVs) and the scan set encompassing volume (i.e., the smallest volume encompassing all GTVs) was closer to one in MRI (0.3-0.6) than in CT (0.1-0.5). The rest volumes (i.e., the volume defined by one observer as GTV in one data set but not in the other data set) were never zero for CT vs. MRI nor for MRI vs. CT. In two cases the craniocaudal border was poorly recognized on the axial MRI but could be delineated with a good agreement between the observers in the coronal/sagittal MRI.

CONCLUSIONS

MRI-derived GTVs are smaller and have less interobserver variation than CT-derived GTVs. CT and MRI are complementary in delineating the GTV. A coronal or sagittal MRI adds to a better GTV definition in the craniocaudal direction.

Two-dimensional exit dosimetry using a liquid-filled electronic portal imaging device and a convolution model

BACKGROUND AND PURPOSE

To determine the accuracy of two-dimensional exit dose measurements with an electronic portal imaging device, EPID, using a convolution model for a variety of clinically relevant situations.

MATERIALS AND METHODS

Exit doses were derived from portal dose images, obtained with a liquid-filled EPID at distances of 50 cm or more behind the patient, by using a convolution model. The resulting on- and off-axis exit dose values were first compared with ionization chamber exit dose measurements for homogeneous and inhomogeneous phantoms in open and wedged 4,8 and 18 MV photon beams. The accuracy of the EPID exit dose measurements was then determined for a number of anthropomorphic phantoms (lung and larynx) irradiated under clinical conditions and for a few patients treated in an 8 MV beam. The latter results were compared with in vivo exit dose measurements using diodes.

RESULTS

The exit dose can be determined from portal images with an accuracy of 1.2% (1 SD) compared with ionization chamber measurements for open beams and homogeneous phantoms at all tested beam qualities. In the presence of wedges and for inhomogeneous phantoms the average relative accuracy slightly deteriorated to 1.7% (1 SD). For lung phantoms in a 4 MV beam a similar accuracy was obtained after refinement of our convolution model, which requires knowledge of the patient contour. Differences between diode and EPID exit dose measurements for an anthropomorphic lung phantom in an 8 MV beam were 2.5% at most, with an average agreement within 1% (1 SD). For larynx phantoms in a 4 MV beam exit doses obtained with an ionization chamber and EPID agreed within 1.5% (1 SD). Finally, exit doses in a few patients irradiated in an 8 MV beam could be determined with the EPID with an accuracy of 1.1% (1 SD) relative to exit dose measurements using diodes.

CONCLUSIONS

Portal images, obtained with our EPID and analyzed with our convolution model, can be used to determine the exit dose distribution with an accuracy of 1.7% (1 SD) for most clinically relevant situations. EPID exit dosimetry is therefore a good alternative for diode dosimetry. The EPID system is a powerful tool in a dosimetric quality control programme during high dose/high precision radiotherapy.

Demonstration of a reduction in muscarinic receptor binding in early Alzheimer's disease using iodine-123 dexetimide single-photon emission tomography

Decreased muscarinic receptor binding has been suggested in single-photon emission tomography (SPET) studies of Alzheimer's disease. However, it remains unclear whether these changes are present in mildly demented patients, and the role of cortical atrophy in receptor binding assessment has not been investigated. We studied muscarinic receptor binding normalized to neostriatum with SPET using [123I]4-iododexetimide in five mildly affected patients with probable Alzheimer's disease and in five age-matched control subjects. Region of interest (ROI) analysis was performed in a consensus procedure blind to clinical diagnosis using matched magnetic resonance (MRI) images. Cortical atrophy was assessed by calculating percentages of cerebrospinal fluid in each ROI. An observer study with three observers was conducted to validate this method. Alzheimer patients showed statistically significantly less [123I]4-iododexetimide binding in left temporal and right temporo-parietal cortex compared with controls, independent of age, sex and cortical atrophy. Mean intra-observer variability was 3.6% and inter-observer results showed consistent differences in [123I]4-iododexetimide binding between observers. However, differences between patients and controls were comparable among observers and statistically significant in the same regions as in the consensus procedure. Using an MRI-SPET matching technique, we conclude that [123I]4-iododexetimide binding is reduced in patients with mild probable Alzheimer's disease in areas of temporal and temporo-parietal cortex.

A convolution model to convert transmission dose images to exit dose distributions

The aim of this study is to develop a model which computes exit dose values from transmission dose data obtained during patient treatment with an electronic portal imaging device (EPID). The proposed model convolves the primary dose distribution, derived from transmission dose distributions at large air gaps, with a scatter kernel to obtain the exit dose. The influence of inhomogeneities on the scatter contribution is taken into account by using a radiological path length model. To determine the parameters of the model, an extensive set of transmission dose measurements was performed behind various phantoms in an 8 MV beam using a liquid-filled EPID. The influence on the transmission dose of field size, phantom thickness, air gap between phantom and detector, and source-phantom distance was investigated. At air gaps larger than 50 cm the distribution of scattered dose is almost flat and its contribution to the total dose is relatively small, thus allowing an accurate separation of the primary and scattered dose by subtraction. Scattered dose distributions for air gaps smaller than 50 cm were obtained by subtracting the primary dose (corrected for divergence) from the measured total transmission dose. The resulting scattered dose distribution behind homogeneous phantoms has a Gaussian shaped profile, which becomes wider with increasing air gap. The relative contribution of scattered dose depends on the phantom thickness and is maximal for a thickness of about 10 cm. Using these results, the parameters of the convolution model (i.e., the shape of the scatter kernel) were determined. With the model the absolute exit dose is predicted with an accuracy of about 2% (1 s.d.) within the entire radiation field for homogeneous phantoms. Inhomogeneities are taken into account by calculating the radiological path length from the measured primary dose, i.e., without using CT data. By using the measured radiological path length the exit dose can be determined for inhomogeneous phantoms with an accuracy of 2.5%. It is concluded that, using our convolution model, EPID measurements at large air gaps can be used to estimate absolute exit doses in an 8 MV beam with an accuracy of 2.5%.

Target margins for random geometrical treatment uncertainties in conformal radiotherapy

In this study we investigate a method for positioning the margin required around the clinical target volume (CTV) to account for the random geometrical treatment uncertainties during conformal radiotherapy. These uncertainties are introduced by patient setup errors and CTV motion within the patient. Three-dimensional dose distributions are calculated for two four-field box techniques and a three-field technique, using rectangular fields. In addition, dose calculations are performed for four prostate cases, treated with a three-field conformal technique. The effects of random rotational and translational deviations on the delivered dose are described as a convolution of the "static" dose with the distribution of the deviations. For the rectangular field techniques, these convolutions are performed with a range of standard deviations (SDs) of the distribution of random translations (0-7 mm in the three directions) and rotations (0 degree-5 degrees around the main axes). Two centers of rotation are considered: the isocenter and a position that is 3.5 cm shifted with respect to the isocenter. For the prostate cases, the random deviations are estimated by combining the results from organ motion and setup accuracy studies. The required margin is defined as the change in the position of the static 95% isodose surface by the convolution and it is approximated by a morphological erosion operator, applied to the static 95% isodose surface. When the center of rotation coincides with the isocenter the change in the position of the static 95% isodose surface can accurately be described by an erosion operator. For the rectangular field techniques, the margin is equal to about 0.7 SD of the distribution of translations, independent of the distribution of rotations. When the center of rotation does not coincide with the isocenter and rotations are considerable, the margin is strongly place dependent, and the accuracy of the approximation by an erosion operator is much lower. In conclusion, margins for random uncertainties can be approximated by a dilation operator (inverse of an erosion operator) when the center of rotational deviations coincides with the isocenter. The size of the margin is about 0.7 SD of the distribution of translations. When rotational deviations are present and the center of rotation does not coincide with the isocenter, the margin can become strongly place dependent and the convolution computation should be incorporated in the planning system.

The dose response relationship of a liquid-filled electronic portal imaging device

To use a liquid-filled portal imaging device (EPID) for transmission dosimetry, it is necessary to understand its dosimetric properties. Therefore, the relation between the pixel values (i.e., ionization currents) of an electronic portal imaging device and the dose rate measured with an ionization chamber in a mini-phantom was investigated. First, a model was introduced to describe the ionization current of the matrix of liquid-filled ionization chambers for pulsed radiation. With this model the relation between ionization current and dose rate is explained qualitatively. Next, buildup measurements were performed at different photon beam energies to assess the amount of buildup material required to obtain electronic equilibrium in the detector. This additional buildup material significantly decreased the image quality, which can hamper patient setup verification, at only the 25 MV beam. Pixel values were then compared with measurements made with a Farmer-type ionization chamber in a mini-phantom at various dose rates. In addition, the influence of a number of accelerator and EPID settings (photon beam energy, pulse rate frequency, gantry rotation angle, and image acquisition modes) on the pixel value was investigated. Subsequently, the dose response relationships of three commercially obtained EPIDs of the same type were compared. For all types of measurements the relation between ionization current and dose rate is described within 1% (1 SD) by an equation with two terms: one term proportional to the square root of the dose rate and another term linear to the dose rate. For images obtained under a typical clinical situation (applying the "normal" acquisition mode at an 8 MV beam with a pulse rate frequency of 400 Hz at a transmission dose rate of 100 cGy/min) the contribution of the square root and linear term to the EPID signal is 94% and 6%, respectively. The weight factors of both terms depend on the photon beam energy, pulse rate frequency, and image acquisition mode. It is concluded that the EPID is useful for dosimetry purposes with 1% (1 SD) accuracy, but that the dose response relationship has to be determined for each EPID and accelerator setting.

Interactive three dimensional inspection of patient setup in radiation therapy using digital portal images and computed tomography data

PURPOSE

Presently, the majority of clinical tools to quantify deviations in patient setup during external beam radiotherapy is based on two-dimensional (2D) analysis of portal images. The purpose of this study is to develop a tool for the inspection of the patient setup in three dimensions (3D) and to validate its clinical advantage over methods based on 2D analysis in the presence of out-of-plane rotations.

METHODS AND MATERIALS

We developed an interactive procedure to quantify the setup deviation of the patient in 3D. The procedure is based on fast computation of digitally reconstructed radiographs (DRRs) in two beam directions and comparison of these DRRs with corresponding portal images. The potential of the tool is demonstrated on three selected cases of prostate and parotid gland treatment where conventional 2D analysis produced inconsistent results. The measurements from 3D analysis are compared with those obtained from the 2D analysis.

RESULTS

Despite application of an immobilization cast, two investigated parotid gland setups showed rotational deviations in 3D up to 3 degrees. Two-dimensional analysis of these deviations produced inconsistent results. Analysis of the selected prostate setup in 3D showed a rotational deviation of 7 degrees around the left-right axis, possibly causing displacement of the seminal vesicles toward the borders of the conformal boost fields. Using 2D analysis, this out-of-plane rotation was misinterpreted as a translation resulting in the failure to trigger the decision protocol to correct the setup after the first fraction. Using the 3D patient setup analysis procedure, an accuracy of the order of 1 mm and 1 degree (SD) could be obtained. The computation time of the interactive DRRs is of the order of 1 s on a 60 MHz PC. The complete interactive 3D analysis requires about 10 min.

CONCLUSIONS

Quantification of the patient setup in 3D provides essential additional information in cases where conventional 2D analysis is inconsistent, e.g., in the presence of out-of-plane rotations or geometrical degeneracies. The speed and accuracy of the interactive 3D patient setup inspection are acceptable for use in offline clinical studies and analysis of problem cases.

Transmission dosimetry with a liquid-filled electronic portal imaging device

PURPOSE

To assess the accuracy of transmission dose rate measurements for various phantom-detector geometries, performed with an electronic portal imaging device (EPID) and to compare these transmission dose rate values with exit dose rate data.

METHODS AND MATERIALS

Transmission dose rate values on the central beam axis and beam profiles were measured with an EPID consisting of a matrix of liquid-filled ionization chambers. These data were compared with transmission and exit dose rate values, obtained using air-filled ionization chambers for a number of field sizes, phantom thickness, and phantom-detector distances. Various homogeneous and inhomogeneous phantoms were applied.

RESULTS

The increase in dose rate with field size is larger for the EPID than in air, due to the larger amount of side scatter in the EPID. The difference has been taken into account by a deconvolution of the EPID images. An additional build-up layer on top of the commercial device is needed to reach dose maximum at the liquid ionization chambers for photon beam energies higher than about 4 MV. The transmission off-axis ratios (OAR) determined with the EPID and in air agreed within 2% for all tested cases, after deconvolution of the EPID signal. The agreement between the EPID-and exit-OAR decreased with increasing phantom-detector distance and the presence of inhomogeneities. For a phantom-detector distance of about 10 cm, the EPID- and exit-OARs agree within 2.5%. The difference could be up to 8% for an air inhomogeneity and a phantom-detector distance of 30 cm.

CONCLUSIONS

The difference between EPID measurements and measurements in air can be explained by side scatter effects in the EPID and lack of adequate buildup, and can easily be taken into account. The loss of scatter compared with the situation at the exit side of the phantom explains the difference between transmission and exit dose values. At short phantom-detector distances, good agreement exists between transmission and exit dose rate. This implies that at this distance, the EPID can be used for simple comparison with exit dose calculations during patient treatments. At larger distances, more sophisticated conversion methods are required.

Automatic three-dimensional inspection of patient setup in radiation therapy using portal images, simulator images, and computed tomography data

In external beam radiotherapy, conventional analysis of portal images in two dimensions (2D) is limited to verification of in-plane rotations and translations of the patient. We developed and clinically tested a new method for automatic quantification of the patient setup in three dimensions (3D) using one set of computed tomography (CT) data and two transmission images. These transmission images can be either a pair of simulator images or a pair of portal images. Our procedure adjusts the position and orientation of the CT data in order to maximize the distance through bone in the CT data along lines between the focus of the irradiation unit and bony structures in the transmission images. For this purpose, bony features are either automatically detected or manually delineated in the transmission images. The performance of the method was quantified by aligning randomly displaced CT data with transmission images simulated from digitally reconstructed radiographs. In addition, the clinical performance were assessed in a limited number of images of prostate cancer and parotid gland tumor treatments. The complete procedure takes less than 2 min on a 90-MHz Pentium PC. The alignment time is 50 s for portal images and 80 s for simulator images. The accuracy is about 1 mm and 1 degrees. Application to clinical cases demonstrated that the procedure provides essential information for the correction of setup errors in case of large rotations (typically larger than 2 degrees) in the setup. The 3D procedure was found to be robust for imperfections in the delineation of bony structures in the transmission images. Visual verification of the results remains, however, necessary. It can be concluded that our strategy for automatic analysis of patient setup in 3D is accurate and robust. The procedure is relatively fast and reduces the human workload compared with existing techniques for the quantification of patient setup in 3D. In addition, the procedure improves the accuracy of treatment verification in 2D in some cases where rotational deviations in the setup occur.

Dosimetric characteristics of a liquid-filled electronic portal imaging device

PURPOSE

To determine the characteristics of a commercial electronic portal imaging device (EPID), based on a two-dimensional matrix of liquid-filled ionization chambers, for transmission dose measurements during patient treatment.

METHODS AND MATERIALS

Electronic portal imaging device measurements were performed in a cobalt-60 beam and two accelerator x-ray beams, and compared with measurements performed with a Farmer-type ionization chamber in air in a miniphantom and in an extended water phantom.

RESULTS

The warming up time of the EPID is about 1 h. The long-term stability of the detector is better than 1% under reference conditions for a period of about 3 months. The signal of the ionization chambers follows approximately the square root of the dose rate, although the relation becomes more linear for larger (> 1 Gy/min) dose rates. The signal can be transformed to dose rate with an accuracy of 0.6% (1 SD). The short-term influence of integrated dose on the sensitivity of the ionization chambers is small. The sensitivity increases about 0.5% for all ionization chambers after an absorbed dose of 8 Gy and returns to its original value in less than 5 min after stopping the irradiation. This small increase in sensitivity can be ascribed to the electrode distance of the ionization chambers in commercial EPIDs, which is 0.8 +/- 0.1 mm. The sensitivity increase depends on the electrode distance and is 4% for a 1.4 mm electrode distance. The scattering properties of the EPID ionization chambers were between those of an ionization chamber in a miniphantom and in a water phantom.

CONCLUSION

The matrix ionization chamber EPID has characteristics that make it very suitable for dose rate measurements. It is therefore a very promising device for in vivo dosimetry purposes.

Electronic portal imaging

In our institute, we have developed an electronic portal imaging system based on a matrix of 256 x 256 ionisation chambers. By improvements to the electronics, the system produces images with the same quality as the original system but 3-10 times faster. Software for automatic image analysis has been applied to more than 10,000 images over the last two years. Using an off-line correction strategy, the systematic patient set-up error has been limited to 5 mm or less for 98% of the patients treated for prostate cancer.

Quantification of organ motion during conformal radiotherapy of the prostate by three dimensional image registration

PURPOSE

Knowledge about the mobility of organs relative to the bony anatomy is of great importance when preparing and verifying conformal radiotherapy. The conventional technique for measuring the motion of an organ is to locate landmarks on the organ and the bony anatomy and to compare the distance between these landmarks on subsequent computerized tomography (CT) scans. The first purpose of this study is to investigate the use of a three dimensional (3D) image registration method based on chamfer matching for measurement of the location and orientation of the whole organ relative to the bony anatomy. The second purpose is to quantify organ motion during conformal therapy of the prostate.

METHODS AND MATERIALS

Four CT scans were made during the course of conformal treatment of 11 patients with prostate cancer. With the use of a 3D treatment planning system, the prostate and seminal vesicles were contoured interactively. In addition, bladder and rectum were contoured and the volume computed. Next, the bony anatomy of subsequent scans was segmented and matched automatically on the first scan. The femora and the pelvic bone were matched separately to quantify motion of the legs. Prostate (and seminal vesicle) contours from the subsequent scans were matched on the corresponding contours of the first scan, resulting in the 3D rotations and translations that describe the motion of the prostate and seminal vesicles relative to the pelvic bone.

RESULTS

Bone matching of two scans with about 50 slices of 256 x 256 pixels takes about 2 min on a workstation and achieves subpixel registration accuracy. Matching of the organ contours takes about 30 s. The accuracy in determining the relative movement of the prostate is 0.5 to 0.9 mm for translations (depending on the axis) and 1 degree for rotations (standard deviations). Because all organ contours are used for matching, small differences in delineation of the prostate, missing slices, or differences in slice distance have only a limited influence on the accuracy. Rotations of the femora and the pelvic bone are quantified with about 0.4 degree accuracy. A strong correlation was found between rectal volume and anterior-posterior translation and rotation around the left-right axis of the prostate. Consequently, these parameters had the largest standard deviations of 2.7 mm and 4.0 degrees. Bladder filling had much less influence. Less significant correlations were found between various leg rotations and pelvic and prostate motion. Standard deviations of the rotation angles of the pelvic bone were less than 1 degree in all directions.

CONCLUSIONS

Using 3D image registration, the motion of organs relative to bony anatomy has been quantified accurately. Uncertainties in contouring and visual interpretation of the scans have a much smaller influence on the measurement of organ displacement with our new method than with conventional methods. We have quantified correlations between rectal filling, leg motions, and prostate motion.