Impact of respiratory movement on the computed tomographic images of small lung tumors in three-dimensional (3D) radiotherapy

Four dimensional CT imaging: a review of current technologies and modalities

Organ motion is a substantial concern in the treatment of thoracic tumours using radiotherapy. A number of technologies have evolved in order to address this both during computed tomography (CT) imaging and radiation delivery. This review paper investigates the various technologies which have been developed in the field of CT scanning as well as their accuracy, cost and the implications of their clinical implementation. The scanning modalities covered include: slow CT, breath hold CT, gated CT and retrospectively correlated CT (4DCT). It was found that there are advantages and drawbacks to each of the mentioned techniques relating to patient dose, scan time, extra equipment and workload. Also some scanning techniques are only compatible with certain treatment modalities which would further influence the decision as to which technologies to implement.

Target repositional accuracy and PTV margin verification using three-dimensional cone-beam computed tomography (CBCT) in stereotactic body radiotherapy (SBRT) of lung cancers

The purpose of this study was to assess target repositional accuracy with respect to the bony structures using daily CBCT, and to validate the planning target volume (PTV) margin used in the lung SBRT. All patients underwent 4D CT scanning in preparation for lung SBRT. The internal target volume (ITV) was outlined from the reconstructed 4D data using the maximum‐intensity projection (MIP) algorithm. A 6 mm margin was added to the ITV to create the PTV. Conformal treatment planning was performed on the helical images, to which the MIP images were fused. Prior to each treatment, CBCT was taken after a patient was set up in the treatment position. The CBCT images were fused with the simulation CT based on the bony anatomy, in order to derive setup errors and separate them from the tumor repositional errors. The treating physician then checked and modified the alignment based on target relocalization within the PTV. The shifts determined in such a method were recorded and the subtractions of these shifts with respect to the corresponding setup errors were defined as the target relocalization accuracy. Our study of 36 consecutive patients, treating 38 targets for a total of 153 fractions shows that, after setup error correction, the target repositional accuracy followed a normal distribution with the mean values close to 0 in all directions, and standard deviations of 0.25 cm in A–P, 0.24 cm in Lat, and 0.28 cm in S–I directions, respectively. The probability of having the shifts ≥0.6cm is less than 0.8% in A–P, 0.6% in Lat, and 1.7 % in S‐I directions. For the patient population studied, the target centroid position relative to the bony structures changed minimally from day to day. This demonstrated that the PTV margin that is designed on the MIP image‐based ITV was adequate for lung SBRT.

PACS number: 87.53.Ly

[Advances of precise radiotherapy for lung cancer]

目前肺部肿瘤的放射治疗已进入精确放疗时代。实施精确放疗的具体方法主要包括：调强放疗（intensity modulated radiotherapy, IMRT）、图像引导放射治疗（image-guided radiotherapy, IGRT）和体部立体定向放射治疗（stereotactic body radiotherapy, SBRT）。在实施精确放疗过程中，对于以下问题：患者体位固定、肺部肿瘤运动的控制、影像技术的使用、PTV边界、剂量的处方和报道、射野的安排、剂量体积的控制和治疗的实施等，应给予充分的考虑和注意，以确保精确放疗能够精确执行。

Real-time 4-D radiotherapy for lung cancer

Respiratory motion considerably influences dose distribution, and thus clinical outcomes in radiotherapy for lung cancer. Breath holding, breath coaching, respiratory gating with external surrogates, and mathematical predicting models all have inevitable uncertainty due to the unpredictable variations of internal tumor motion. The amplitude of the same tumor can vary with standard deviations > 5 mm occurring in 23% of T1-2N0M0 non-small cell lung cancers. Residual motion varied 1-6 mm (95th percentile) for the 40% duty cycle of respiratory gating with external surrogates. The 4-D computed tomography is vulnerable to problems relating to the external surrogates. Real-time 4-D radiotherapy (4DRT), where the temporal changes in anatomy during the delivery of radiotherapy are explicitly considered in real time, is emerging as a new method to reduce these known sources of uncertainty. Fluoroscopic, real-time tumor-tracking technology using internal fiducial markers near the tumor has ± 2 mm accuracy, and has achieved promising clinical results when used with X-ray therapy. Instantaneous irradiation based on real-time verification of internal fiducial markers is considered the minimal requisite for real-time 4DRT of lung cancers at present. Real-time tracking radiotherapy using gamma rays from positron emitters in tumors is in the preclinical research stage, but has been successful in experiments in small animals. Real-time tumor tracking via spot-scanning proton beam therapy has the capability to cure large lung cancers in motion, and is expected to be the next-generation real-time 4DRT.

Multiphase-computed tomography-based target volume definition in conventional fractionated radiotherapy of lung tumors: Dosimetric and reliable comparison with the technique using addition of generic margins

Aims and background

The aim of the present study was to compare radiotherapeutic plans based on internal target volume determined by between multiphase computed tomography and addition of a generic margin in lung tumors and to evaluate the reliability of ITV determined by multiphase computed tomography during conventional fractionated radiotherapy.

Methods and study design

The radiotherapeutic plans based on internal target volume determined by between multiphase computed tomography and addition of a generic margin in 10 patients with lung tumors were applied. The difference of two planning target volumes (PTV) and irradiated dose and volume of normal lung tissue were compared. Weekly new targets were delineated on repeated computed tomography scans, and weekly dose coverage of clinical target volume under two different treatment plans was evaluated.

Results

For all patients, PTV3CT volume based on multiphase computed tomography was significantly smaller than that of PTVcon based on addition of a generic margin (t = 6.831, P <0.001). The volume receiving more than 20 Gy in Plan3CT and Plancon was 16.7 ± 5.2% and 20.0 ± 5.2% (t = 7.565, P <0.001), the volume receiving more than 5 Gy was 36.6 ± 7.2% and 42.7 ± 6.4% (t = 7.459, P <0.001), and mean lung dose was 1037.5 ± 275.0 cGy and 1246.8 ± 271.0 cGy (t = 8.078, P <0.001), respectively. Both Plan3CT and Planconprovided a satisfactory clinical target volume coverage weekly during conventional fractionated radiotherapy for 6–7 weeks, and the ratio of the volume receiving the prescription dose was 1.03 ± 0.02 and 1.04 ± 0.02, respectively.

Conclusions

The radiotherapeutic plan based on internal target volume determined by multiphase computed tomography can ensure weekly target coverage during conventional fractionated radiotherapy in lung tumors, and it is better than the plan based on the addition of generic internal target volume, which can effectively reduce normal lung tissue irradiation.

Lung tumor reproducibility with active breath control (ABC) in image-guided radiotherapy based on cone-beam computed tomography with two registration methods

PURPOSE

To study the inter- and intrafraction tumor reproducibility with active breath control (ABC) utilizing cone-beam computed tomography (CBCT), and compare validity of registration with two different regions of interest (ROI).

METHODS AND MATERIALS

Thirty-one lung tumors in 19 patients received conventional or stereotactic body radiotherapy with ABC. During each treatment, patients had three CBCT scanned before and after online position correction and after treatment. These CBCT images were aligned to the planning CT using the gray scale registration of tumor and bony registration of the thorax, and tumor position uncertainties were then determined.

RESULTS

The interfraction systematic and random translation errors in the left-right (LR), superior-inferior (SI) and anterior-posterior (AP) directions were 3.6, 4.8, and 2.9mm; 2.5, 4.5, and 3.5mm, respectively, with gray scale alignment; 1.9, 4.3, 2.0mm and 2.5, 4.4, 2.9mm, respectively, with bony alignment. The interfraction systematic and random rotation errors with gray scale and bony alignment groups ranged from 1.4° to 3.0° and 0.8° to 2.3°, respectively. The intrafraction systematic and random errors with gray scale registration in LR, SI, AP directions were 0.9, 2.0, 1.8mm and 1.5, 1.7, 2.9mm, respectively, for translation; 1.5°, 0.9°, 1.0° and 1.2°, 2.2°, 1.8°, respectively, for rotation. The translational errors in SI direction with bony alignment were significantly larger than that of gray scale (p<0.05).

CONCLUSIONS

With CBCT guided online correction the interfraction positioning errors can be markedly reduced. The intrafraction errors were not diminished by the use of ABC. Rotation errors were not very remarkable both inter- and intrafraction. Gray scale alignment of tumor may provide a better registration in SI direction.

Multiple breath-hold CBCT for online image guided radiotherapy of lung tumors: simulation with a dynamic phantom and first patient data

BACKGROUND AND PURPOSE

Computer controlled breath-hold effectively reduces organ motion for image-guided precision radiotherapy of lung tumors. However, the acquisition time of 3D cone-beam-CT (CBCT) exceeds maximum breath-hold times. We have developed an approach enabling online verification using CBCT image acquisition with ABC®-based breath-hold.

METHODS

Patient CBCT images were acquired with ABC®-based repeat breath-hold. The clinical situation was also simulated with a Motion Phantom. Reconstruction of patient and phantom images with selection of free-breathing and breath-hold projections only was performed.

RESULTS

CBCT-imaging in repeat breath-hold resulted in a precisely spherical appearance of a tumor-mimicking structure in the phantom. A faint "ghost" structure (free-breathing phases) can be clearly discriminated. Mean percentage of patient breath-hold time was 66%. Reconstruction based on free-breathing-only shows blurring of both tumor and diaphragm, reconstruction based on breath-hold projections only resulted in sharp contours of the same structures. From the phantom experiments, a maximal repositioning error of 1mm in each direction can be estimated.

DISCUSSION AND CONCLUSION

CBCT during repetitive breath hold provides reliable soft-tissue-based positioning. Fast 3D-imaging during one breath-hold is currently under development and has the potential to accelerate clinical linac-based volume imaging.

The effect of an inconsistent breathing amplitude on the relationship between an external marker and internal lung deformation in a porcine model

PURPOSE

Investigate the relationship between the motion of the Varian Real-time Position Management (RPM) device and the internal motion of a pig during induced inconsistencies in the amplitude of breathing.

METHODS

Twelve studies were performed on four ventilated female Landrace cross pigs using a GE Healthcare, Discovery CT 750 HD scanner. In each study, a 4.0 cm section (64 slices) of the pig's lungs was repeatedly scanned 20 times using cine mode, each time lasting more than one breathing cycle. During these cine scans, a Varian RPM device was used to collect respiratory amplitudes and the ventilator air return tube was periodically crimped to induce inconsistent breathing amplitudes. Each breathing cycle and its associated cine scan were categorized as either consistent or inconsistent, based on thresholds of the minimum expiration and maximum inspiration amplitudes. From the group of consistent amplitude cine scans in a study, a reference scan was chosen. The effect of inconsistent breathing amplitudes on the relationship between the motion of the RPM marker and the motion within three regions of interest (in each lung and the chest wall) was investigated with two methods: (1) A 4D-CT sorting algorithm based on RPM amplitude was used to sort volumes into 4D-CT phase bins. Within each phase bin, the nonlinear deformation of volumes collected during consistent and inconsistent breathing amplitude was calculated with respect to the reference volume. The magnitude of the deformations (in mm) were compared to determine if inconsistent breathing amplitude caused greater deformations. (2) Nonlinear deformations between each CT volume from a cine scan and the maximum expiration volume of the reference scan were calculated. Regression analyses between the nonlinear deformations within three regions of interest (in each lung and the chest wall) and the RPM amplitudes were performed to test the effect of inconsistent breathing amplitudes on the linearity of the relationship between the 3D motion of internal anatomy and the 1D motion of the RPM external marker.

RESULTS

(1) Inconsistent versus consistent breathing amplitudes caused a significant increase in deformation relative to the reference scan within the left lung (1.40 +/- 0.42 versus 1.29 +/- 0.36 mm, p < 0.05). (2) One-to-one correspondences between motions of internal anatomies and motion of the RPM external marker did not exist. The regression lines between the two types of motions did not yield an identity relationship (unity slope and zero intercept). Inconsistent breathing produced significantly different regression lines than consistent breathing in ten of the 12 studies within a left lung region of interest.

CONCLUSIONS

The results of these two studies indicate that inconsistency in the amplitude of breathing disrupted the correspondence between the motion of the external marker and internal anatomies. As a consequence, radiation therapy of tumors embedded in lung tissue may be prone to significant errors if inconsistent breathing amplitudes occur during treatment.

Comparison of helical and average computed tomography for stereotactic body radiation treatment planning and normal tissue contouring in lung cancer

AIMS

To compare average computed tomography (CT(AVE)) datasets with free breathing helical computed tomography (CT(HEL)) for contouring organs at risk (OARs) and radiation treatment planning in patients receiving stereotactic body radiation therapy (SBRT) in the lung.

MATERIALS AND METHODS

Ten SBRT patients with peripheral stage I non-small cell lung cancer underwent a CT(HEL) and a four-dimensional computed tomography scan in the treatment position. CT(AVE) datasets were generated from the four-dimensional computed tomography scan. The following OARs were delineated on the CT(HEL) and CT(AVE) datasets of each patient: lung minus internal target volume, trachea/main bronchus, heart, oesophagus and spinal cord. Volumes and geometric centres of the OARs, as well as the dosimetric impact of planning with these different datasets, were examined.

RESULTS

There were no statistical differences in the OAR geometric centre coordinates nor in the OAR volumes between the CT(HEL) and CT(AVE) datasets, except that CT(AVE)-defined trachea/main bronchus and lung minus internal target volume mean volumes were larger than those defined on the CT(HEL) (46, 43 cm³ and 3516, 3378 cm³, respectively, P<0.05). Despite this, there were no significant differences in the mean and maximum doses to the OAR contours when using the CT(HEL) or CT(AVE) for planning (<4% average change in the maximum and mean doses for all OARs, P>0.05). There were also no significant differences in the locations of the hotspots within OARs among the CT(HEL) or CT(AVE) datasets (P>0.05).

CONCLUSIONS

CT(AVE) datasets may be used in place of CT(HEL) for OAR contouring and dose calculations. When four-dimensional computed tomography is available, it may not be necessary to acquire a separate CT(HEL) scan for OAR contouring or dosimetric purposes.

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

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

Fast kilovoltage/megavoltage (kVMV) breathhold cone-beam CT for image-guided radiotherapy of lung cancer

Long image acquisition times of 60-120 s for cone-beam CT (CBCT) limit the number of patients with lung cancer who can undergo volume image guidance under breathhold. We developed a low-dose dual-energy kilovoltage-megavoltage-cone-beam CT (kVMV-CBCT) based on a clinical treatment unit reducing imaging time to < or =15 s. Simultaneous kVMV-imaging was achieved by dedicated synchronization hardware controlling the output of the linear accelerator (linac) based on detector panel readout signals, preventing imaging artifacts from interference of the linac's MV-irradiation and panel readouts. Optimization was performed to minimize the imaging dose. Single MV-projections, reconstructed MV-CBCT images and images of simultaneous 90 degrees kV- and 90 degrees MV-CBCT (180 degrees kVMV-CBCT) were acquired with different parameters. Image quality and imaging dose were evaluated and compared to kV-imaging. Hardware-based kVMV synchronization resulted in artifact-free projections. A combined 180 degrees kVMV-CBCT scan with a total MV-dose of 5 monitor units was acquired in 15 s and with sufficient image quality. The resolution was 5-6 line pairs cm(-1) (Catphan phantom). The combined kVMV-scan dose was equivalent to a kV-radiation scan dose of approximately 33 mGy. kVMV-CBCT based on a standard linac is promising and can provide ultra-fast online volume image guidance with low imaging dose and sufficient image quality for fast and accurate patient positioning for patients with lung cancer under breathhold.

A study on the dosimetric accuracy of treatment planning for stereotactic body radiation therapy of lung cancer using average and maximum intensity projection images

PURPOSE

To assess the accuracy of current stereotactic body radiation therapy (SBRT) lung treatment planning methodologies on irregular breathing patterns, we have performed a systematic dosimetric evaluation in phantoms by utilizing maximum intensity projection (MIP) and average (AVG) images generated from four dimensional computed tomography (4DCT).

METHODS

A custom built programmable lung phantom was used to simulate tumor motions due to various breathing patterns of patients. 4DCT scans were obtained in helical mode, and reconstructed AVG and MIP datasets were imported into the Pinnacle 8.0 h treatment planning system. SBRT plans were generated and executed, and delivered doses were measured by radiochromic film for analysis.

RESULTS

For targets moving regularly or irregularly within a small range (7.0+/-1.8 mm, n=6), we observed good agreement between the measured and computed dose distributions. However, for targets moving irregularly with a larger range (20.8+/-2.6 mm, n=4), the measured isodose lines were found to be shifted relative to the planned distribution, resulting in an under-dosing (over 10%) in a portion of the PTV. We further observed that the discrepancy between planned and measured dose distribution is due to the inaccurate representation of irregular target motion in the MIP images generated from 4DCT.

CONCLUSIONS

Caution should be used when planning from 4DCT images in the presence of large and irregular target motion. The inaccuracy inherent in 4DCT MIP and AVG images can be mitigated through the application of methodologies to reduce respiratory motion, such as abdominal compression, and through the use of volumetric image guidance (e.g., cone beam CT-CBCT) to assure precise targeting with minimal shifts.

An investigation of temporal resolution parameters in cine-mode four-dimensional computed tomography acquisition

The accuracy of four‐dimensional computed tomography (4DCT) imaging depends on temporal characteristics of the acquisition protocol—for example, the temporal spacing of the reconstructed images (also known as cine duration between images) and the gantry rotation speed. These parameters affect the temporal resolution of 4DCT images, and a single default acquisition protocol, as commonly used in most clinics, may be suboptimal for a subset of respiratory motion characteristics. It could lead to substantial inaccuracies in target delineation. The aim of the present study was to evaluate the interplay between parameters affecting temporal resolution and the accuracy of the resulting images.

We acquired 4DCT images of cylindrical phantoms under repetitive motion induced by a translation platform. Acquisition settings varied with respect to temporal spacing, gantry rotation speed, and motion period of the phantoms. Reconstructed images were sorted into 10 phase bins and were compared to static phantom images acquired at corresponding positions of the respiration phase. Acquisitions with different temporal spacing did not play a significant role in the amount of motion observed in full‐cycle maximum intensity projection images. Target delineation accuracy at end‐of‐inhalation phase was observed to be constant up to a threshold in the value of the reconstruction interval, beyond which it varied arbitrarily. This threshold was found to be correlated with the number of phase bins and the motion period. No observable variations were noted with images from the end of exhalation when temporal spacing was varied. Target delineation accuracy was observed to be enhanced in acquisitions using faster gantry rotation speeds. An evaluation of the acquisition parameters needs to be performed depending on the period of the motion and limiting factors such as the availability of acquisition settings, X‐ray tube workload, image storage, and processing power.

PACS numbers: 87.53.Xd, 87.57.‐s, 87.57.Gg, 87.59.Fm

Retrospective analysis of artifacts in four-dimensional CT images of 50 abdominal and thoracic radiotherapy patients

PURPOSE

To quantify the type, frequency, and magnitude of artifacts in four-dimensional (4D) CT images acquired using a multislice cine method.

METHODS AND MATERIALS

Fifty consecutive patients who underwent 4D-CT scanning and radiotherapy for thoracic or abdominal cancers were included in this study. All the 4D-CT scans were performed on the GE multislice PET/CT scanner with the Varian Real-time Position Management system in cine mode. The GE Advantage 4D software was used to create 4D-CT data sets. The artifacts were then visually and quantitatively analyzed. We performed statistical analyses to evaluate the relationships between patient- or breathing-pattern-related parameters and the occurrence as well as magnitude of artifacts.

RESULTS

It was found that 45 of 50 patients (90%) had at least one artifact (other than blurring) with a mean magnitude of 11.6 mm (range, 4.4-56.0 mm) in the diaphragm or heart. We also observed at least one artifact in 6 of 20 lung or mediastinal tumors (30%). Statistical analysis revealed that there were significant differences between several breathing-pattern-related parameters, including abdominal displacement (p < 0.01), for the subgroups of patients with and without artifacts. The magnitude of an artifact was found to be significantly but weakly correlated with the abdominal displacement difference between two adjacent couch positions (R = 0.34, p < 0.01).

CONCLUSIONS

This study has identified that the frequency and magnitude of artifacts in 4D-CT is alarmingly high. Significant improvement is needed in 4D-CT imaging.

Dynamic MR based analysis of tumor movement in upper and mid lobe localized lung cancer

BACKGROUND AND PURPOSE

Tumor motion is a very important factor in the radiotherapy of lung cancer. Uncertainty resulting from tumor movement must be considered in 3D therapy planning especially in case of IMRT or stereotactic therapy. The aim of our dynamic MR based study was to detect tumor movements in upper and mid lobe lung tumors.

PATIENT AND METHODS

Twenty-four patients with newly diagnosed stage II-IV lung cancer were enrolled into the study. According to tumor localization in the right S1-S3 segments 9, in the right S4-S6 segments 2, in the left S1-S3 segments 9 and in the left S4-S6 segments 4 lesions were detected. In normal treatment position individual dynamic MR examinations were performed in axial, sagittal and coronal planes (100 slices/30 sec). For tumor motion analysis E-RAD PAC's software was used.

RESULTS

Movements of the tumor under normal breathing conditions were registered in the three main directions. The mean antero-posterior deviation was 0,109 cm (range: 0,063 cm-0,204 cm), the mean medio-lateral deviation was 0,114 cm (range: 0,06 cm- 0,244 cm). The greatest deviation was measured in cranio-caudal direction (mean: 0,27 cm, range: 0,079 cm- 0,815 cm). The mean direction independent deviation was 0,18 cm (range: 0,09 cm- 0,48 cm).

CONCLUSION

Dynamic MR is a sensitive and well tolerated method for tumor motion monitoring in high precision 3D therapy planning of lung cancer patients. Our results demonstrate that tumors located in the upper and mid lobes have moderate breath synchronous movements. The greatest deviation occur in cranio-caudal direction.

Four-dimensional computed tomography scan analysis of tumor and organ motion at varying levels of abdominal compression during stereotactic treatment of lung and liver

PURPOSE

To investigate the effectiveness of different abdominal compression levels on tumor and organ motion during stereotactic body radiotherapy of lower lobe lung and liver tumors using four-dimensional (4D)-CT scan analysis.

METHODS AND MATERIALS

Three 4D-CT scans were acquired for 10 patients first using with no compression and then compared with two different levels of abdominal compression. The position of the tumor and various organs were defined at the peak inspiratory and expiratory phases and compared to determine the maximum motion.

RESULTS

Mean (+/-SD) medium compression force (MC) and high compression force (HC) were 47.6 +/- 16.0 N and 90.7 +/- 27.1 N, respectively. Mean overall tumor motion was 13.6 mm (2sigma [2 sigma] 11.5-15.6), 8.3 mm (2sigma 6.0-10.5), and 7.2 mm (2sigma 5.4-9.0) for no compression, MC, and HC, respectively. A significant difference in the control of both superior-inferior (SI) and overall motion of tumors was seen with the application of MC and HC when compared with no compression (p < 0.0001 for both). High compression force improved SI and overall tumor motion compared with MC, but this was only significant for SI motion (p = 0.04 and p = 0.06). Significant control of organ motion was only seen in the pancreas (p = 0.01).

CONCLUSIONS

Four-dimensional CT shows significant control of both lower lobe lung and liver tumors using abdominal compression. High levels of compression improve SI tumor motion when compared with MC.

The investigation on the location effect of external markers in respiratory-gated radiotherapy

PURPOSE

To investigate the effect of the marker placement on the correlation relationship between the motions of external markers and the internal target under different breathing patterns for several lung cancer patients.

METHOD AND MATERIAL

To monitor and record simultaneous motions of internal target and associated surrogate markers during respiratory gated radiotherapy, an infrared camera system synchronized with a medical simulator was installed in our institute. Multiple external markers were placed on the patients' chest wall with proper geometrical arrangement in closely monitoring the motion of skin near tumor. The motion signals of three breathing sessions (free breathing, breath-holding, and free breathing after breath-holding) were recorded and the quality of correlation between them was analyzed. For a single marker motion, its correlation with the internal target was analyzed using cross-covariance function. For the multiple markers, their correlation with the internal target was analyzed based on additive model.

RESULT

Seven patients undergoing radiotherapy with right upper or middle lobe lesions were enrolled in this study. Statistic analysis based on the internal-external motion signals shows that the effect of marker location on the quality of its correlation with the internal target is varied from patient to patient. There was no specific marker location where consistently demonstrated superior quality of correlation with the internal target motion over three breathing sessions for all patients. As the composite surrogate signal which was generated from the motions of multiple external markers was used to correlate the internal target motion, significant improvement of the quality of correlation was achieved.

CONCLUSION

The correlation of external marker to the internal target could be influenced by several factors such as patient population, marker locations, and breathing patterns, considerably. The quality of correlation and predictability to the internal target furnished by a single external marker is inferior to that of the composite signal generated from multiple external markers. The use of composite signal shows great potential in improving the predictability of internal target motion and presents an effective way to track tumor more accurately.

Different styles of image-guided radiotherapy

To account for geometric uncertainties during radiotherapy, safety margins are applied. In many cases, these margins overlap organs at risk, thereby limiting dose escalation. The aim of image-guided radiotherapy is to improve the accuracy by imaging tumors and critical structures on the machine just before irradiation. The availability of high-quality imaging systems and automatic image registration on the machine leads to many new clinical applications, such as high-precision hypofractionated treatments of brain metastases and solitary long tumors with online tumor position corrections. In this review, the prerequisites for image guidance in terms of planning, image acquisition, and processing are first described. Then, the various methods of correction are discussed such as table shifts and rotation and direct adaptation of machine parameters. Then, online, offline, and intrafraction correction strategies are discussed. Finally, some imaging dose issues are discussed showing that kilovoltage cone-beam computed tomography guidance has a net positive impact on the integral dose; the gain caused by margin reduction is larger than the image dose. We can conclude that image-guided radiotherapy is very much a clinical reality and that the development of optimal clinical protocols should currently be the focus of research.

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

PURPOSE

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

METHODS AND MATERIALS

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

RESULTS

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

CONCLUSION

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

Quantification of Motion of Different Thoracic Locations Using Four-Dimensional Computed Tomography: Implications for Radiotherapy Planning

PURPOSE

To assess the respiratory motion of different thoracic nodal locations and its dependence on the presence of enlarged nodes; to assess the respiratory motion of different parenchymal tumor locations; and to determine the appropriate margins to cover the respiratory motion of targets at these locations.

METHODS AND MATERIALS

We reviewed the four-dimensional computed tomography scans of 20 patients with thoracic tumors treated at our institution. The motion of four central thoracic locations (aortic arch, carina, and bilateral hila), parenchymal tumor locations (upper vs. lower, and anterior vs. middle vs. posterior thorax), and bilateral diaphragmatic domes was measured.

RESULTS

For the central thoracic locations, the largest motion was in the superoinferior (SI) dimension (>5 mm for bilateral hila and carina, but <4 mm for aortic arch). No significant difference was found in the motion of these locations in the absence or presence of enlarged nodes. For parenchymal tumors, upper tumors exhibited smaller SI motion than did lower tumors (3.7 vs. 10.4 mm, p = 0.029). Similarly, anterior tumors exhibited smaller motion than did posterior tumors in both the SI (4.0 vs. 8.0 mm, p = 0.013) and lateral (2.8 vs. 4.6 mm, p = 0.045) directions. The margins that would be needed to encompass the respiratory motion of each of the evaluated locations in 95% of patients were tabulated and range from 3.4 to 37.2 mm, depending on the location and direction.

CONCLUSIONS

The results of our study have provided data for appropriate site-specific internal target volume expansion that could be useful in the absence of four-dimensional computed tomography-based treatment planning. However, generalizing the results from a small patient population requires discretion.

Steep dose-response relationship for stage I non-small-cell lung cancer using hypofractionated high-dose irradiation by real-time tumor-tracking radiotherapy

PURPOSE

To investigate the clinical outcomes of patients with pathologically proven, peripherally located, Stage I non-small-cell lung cancer who had undergone stereotactic body radiotherapy using real-time tumor tracking radiotherapy during the developmental period.

METHODS AND MATERIALS

A total of 41 patients (25 with Stage T1 and 16 with Stage T2) were admitted to the study between February 2000 and June 2005. A 5-mm planning target volume margin was added to the clinical target volume determined with computed tomography at the end of the expiratory phase. The gating window ranged from +/-2 to 3 mm. The dose fractionation schedule was 40 or 48 Gy in four fractions within 1 week. The dose was prescribed at the center of the planning target volume, giving more than an 80% dose at the planning target volume periphery.

RESULTS

For 28 patients treated with 48 Gy in four fractions, the overall actuarial survival rate at 3 years was 82% for those with Stage IA and 32% for those with Stage IB. For patients treated with 40 Gy in four fractions within 1 week, the overall actuarial survival rate at 3 years was 50% for those with Stage IA and 0% for those with Stage IB. A significant difference was found in local control between those with Stage IB who received 40 Gy vs. 48 Gy (p = 0.0015) but not in those with Stage IA (p = 0.5811). No serious radiation morbidity was observed with either dose schedule.

CONCLUSION

The results of our study have shown that 48 Gy in four fractions within 1 week is a safe and effective treatment for peripherally located, Stage IA non-small-cell lung cancer. A steep dose-response curve between 40 and 48 Gy using a daily dose of 12 Gy delivered within 1 week was identified for Stage IB non-small-cell lung cancer in stereotactic body radiotherapy using real-time tumor tracking radiotherapy.

Tracking lung tissue motion and expansion/compression with inverse consistent image registration and spirometry

Breathing motion is one of the major limiting factors for reducing dose and irradiation of normal tissue for conventional conformal radiotherapy. This paper describes a relationship between tracking lung motion using spirometry data and image registration of consecutive CT image volumes collected from a multislice CT scanner over multiple breathing periods. Temporal CT sequences from 5 individuals were analyzed in this study. The couch was moved from 11 to 14 different positions to image the entire lung. At each couch position, 15 image volumes were collected over approximately 3 breathing periods. It is assumed that the expansion and contraction of lung tissue can be modeled as an elastic material. Furthermore, it is assumed that the deformation of the lung is small over one-fifth of a breathing period and therefore the motion of the lung can be adequately modeled using a small deformation linear elastic model. The small deformation inverse consistent linear elastic image registration algorithm is therefore well suited for this problem and was used to register consecutive image scans. The pointwise expansion and compression of lung tissue was measured by computing the Jacobian of the transformations used to register the images. The logarithm of the Jacobian was computed so that expansion and compression of the lung were scaled equally. The log-Jacobian was computed at each voxel in the volume to produce a map of the local expansion and compression of the lung during the breathing period. These log-Jacobian images demonstrate that the lung does not expand uniformly during the breathing period, but rather expands and contracts locally at different rates during inhalation and exhalation. The log-Jacobian numbers were averaged over a cross section of the lung to produce an estimate of the average expansion or compression from one time point to the next and compared to the air flow rate measured by spirometry. In four out of five individuals, the average log-Jacobian value and the air flow rate correlated well (R2 = 0.858 on average for the entire lung). The correlation for the fifth individual was not as good (R2 = 0.377 on average for the entire lung) and can be explained by the small variation in tidal volume for this individual. The correlation of the average log-Jacobian value and the air flow rate for images near the diaphragm correlated well in all five individuals (R2 = 0.943 on average). These preliminary results indicate a strong correlation between the expansion/compression of the lung measured by image registration and the air flow rate measured by spirometry. Predicting the location, motion, and compression/expansion of the tumor and normal tissue using image registration and spirometry could have many important benefits for radiotherapy treatment. These benefits include reducing radiation dose to normal tissue, maximizing dose to the tumor, improving patient care, reducing treatment cost, and increasing patient throughput.

The impact of temporal inaccuracies on 4DCT image quality

Accurate delineation of target volumes is one of the critical components contributing to the success of image-guided radiotherapy treatments and several imaging modalities are employed to increase the accuracy in target identification. Four-dimensional (4D) techniques are incorporated into existing radiation imaging techniques like computed tomography (CT) to account for the mobility of the target volumes. However, these methods in some cases introduce further inaccuracies in the target delineation when further quality assurance measures are not implemented. A source of commonly observed inaccuracy is the misidentification of the respiration cycles and resulting respiration phase assignments used in the construction of the 4D patient model. The aim of this work is to emphasize the importance of optimal respiration phase assignment during the 4DCT image acquisition process and to perform a quantitative assessment of the effect of inaccurate phase assignments on the overall image quality. The accuracy of the phase assignment was assessed by comparison with an independent calculation of the respiration phases. Misplaced phase assignments manifest themselves as deformations and artifacts in reconstructed images. These effects are quantified as volumetric discrepancies in the localization of target objects represented by spherical phantoms. Measurements are performed using a fully programmable motion phantom designed and built at Mayo Clinic (Rochester, MN). Implementation of a case based independent check and correction procedure is also demonstrated with emphasis on the use of this procedure in the clinical environment. Review of clinical 4D scans performed in this institution showed discrepancies in the phase assignments in about 40% of the cases when compared to our independent calculations. It is concluded that for improved image reconstruction, an independent check of the sorting procedure should be performed for each clinical 4DCT case.

Assessment of Gross Tumor Volume Regression and Motion Changes During Radiotherapy for Non–Small-Cell Lung Cancer as Measured by Four-Dimensional Computed Tomography

PURPOSE

To investigate the magnitudes of the changes in mobility and volume of locally advanced non-small-cell lung cancer (NSCLC) tumors during radiotherapy, using four-dimensional computed tomography (4DCT).

METHODS AND MATERIALS

Five to ten 4DCT data sets were acquired weekly for each of 8 patients throughout treatment. Gross tumor volumes (GTVs) were outlined on each data set. Volumes and coordinates of the GTV centroids were calculated at the 0 (end-inspiration) and 50% (end-expiration) respiration phases. Trends in magnitudes of intrafraction and interfraction positional variations were assessed for the GTV and internal target volume (ITV) during treatment.

RESULTS

Tumor volume reduction ranged from 20% to 71% (end-inspiration) and from 15% to 70% (end-expiration). Increased tumor mobility was observed in the superior-inferior and anterior-posterior directions. However, no trends in tumor motion were observed. Motion along the superior-inferior direction was significantly greater (p < 0.001), with mean +/- SD values of 0.86 +/- 0.19 cm, as compared with 0.39 +/- 0.08 cm and 0.19 +/- 0.05 cm in the anterior-posterior and right-left directions, respectively. A marginally significant (p = 0.049) increase in total GTV positional variation was observed with increasing treatment weeks, and similar results were seen for the interfractional ITV mobility.

CONCLUSIONS

Because of changes in tumor size and mobility, an explicit initial determination of the ITV may not be sufficient, especially where small setup margins are used. Repeat 4DCT scans might be warranted for highly mobile tumors to reduce the potential for missing the tumor.

Model-based respiratory motion compensation for emission tomography image reconstruction

In emission tomography imaging, respiratory motion causes artifacts in lungs and cardiac reconstructed images, which lead to misinterpretations, imprecise diagnosis, impairing of fusion with other modalities, etc. Solutions like respiratory gating, correlated dynamic PET techniques, list-mode data based techniques and others have been tested, which lead to improvements over the spatial activity distribution in lungs lesions, but which have the disadvantages of requiring additional instrumentation or the need of discarding part of the projection data used for reconstruction. The objective of this study is to incorporate respiratory motion compensation directly into the image reconstruction process, without any additional acquisition protocol consideration. To this end, we propose an extension to the maximum likelihood expectation maximization (MLEM) algorithm that includes a respiratory motion model, which takes into account the displacements and volume deformations produced by the respiratory motion during the data acquisition process. We present results from synthetic simulations incorporating real respiratory motion as well as from phantom and patient data.

Phase and amplitude binning for 4D-CT imaging

We compare the consistency and accuracy of two image binning approaches used in 4D-CT imaging. One approach, phase binning (PB), assigns each breathing cycle 2pi rad, within which the images are grouped. In amplitude binning (AB), the images are assigned bins according to the breathing signal's full amplitude. To quantitate both approaches we used a NEMA NU2-2001 IEC phantom oscillating in the axial direction and at random frequencies and amplitudes, approximately simulating a patient's breathing. 4D-CT images were obtained using a four-slice GE Lightspeed CT scanner operating in cine mode. We define consistency error as a measure of ability to correctly bin over repeated cycles in the same field of view. Average consistency error mue+/-sigmae in PB ranged from 18%+/-20% to 30%+/-35%, while in AB the error ranged from 11%+/-14% to 20%+/-24%. In PB nearly all bins contained sphere slices. AB was more accurate, revealing empty bins where no sphere slices existed. As a proof of principle, we present examples of two non-small cell lung carcinoma patients' 4D-CT lung images binned by both approaches. While AB can lead to gaps in the coronal images, depending on the patient's breathing pattern, PB exhibits no gaps but suffers visible artifacts due to misbinning, yielding images that cover a relatively large amplitude range. AB was more consistent, though often resulted in gaps when no data existed due to patients' breathing pattern. We conclude AB is more accurate than PB. This has important consequences to treatment planning and diagnosis.

How extensive of a 4D dataset is needed to estimate cumulative dose distribution plan evaluation metrics in conformal lung therapy?

The purpose of this study was to investigate the number of intermediate states required to adequately approximate the clinically relevant cumulative dose to deforming/moving thoracic anatomy in four-dimensional (4D) conformal radiotherapy that uses 6 MV photons to target tumors. Four patients were involved in this study. For the first three patients, computed tomography images acquired at exhale and inhale were available; they were registered using B-spline deformation model and the computed transformation was further used to simulate intermediate states between exhale and inhale. For the fourth patient, 4D-acquired, phase-sorted datasets were available and each dataset was registered with the exhale dataset. The exhale-inhale transformation was also used to simulate intermediate states in order to compare the cumulative doses computed using the actual and the simulated datasets. Doses to each state were calculated using the Dose Planning Method (DPM) Monte Carlo code and dose was accumulated for scoring on the exhale anatomy via the transformation matrices for each state and time weighting factors. Cumulative doses were estimated using increasing numbers of intermediate states and compared to simpler scenarios such as a "2-state" model which used only the exhale and inhale datasets or the dose received during the average phase of the breathing cycle. Dose distributions for each modeled state as well as the cumulative doses were assessed using dose volume histograms and several treatment evaluation metrics such as mean lung dose, normal tissue complication probability, and generalized uniform dose. Although significant "point dose" differences can exist between each breathing state, the differences decrease when cumulative doses are considered, and can become less significant yet in terms of evaluation metrics depending upon the clinical end point. This study suggests that for certain "clinical" end points of importance for lung cancer, satisfactory predictions of accumulated total dose to be received by the distorting anatomy can be achieved by calculating the dose to but a few (or even simply the average) phases of the breathing cycle.

Organ motion in image-guided radiotherapy: lessons from real-time tumor-tracking radiotherapy

External radiotherapy using imaging technology for patient setup is often called image-guided radiotherapy (IGRT). The most important problem to solve in IGRT is organ motion. Four-dimensional radiotherapy (4DRT), in which the accuracy of localization is improved - not only in space but also in time - in comparison to 3DRT, is required in IGRT. Real-time tumor-tracking radiotherapy (RTRT) has been shown to be feasible for performing 4DRT with the aid of a fiducial marker near the tumor. Lung, liver, prostate, spinal/paraspinal, gynecological, head and neck, esophagus, and pancreas tumors are now ready for dose escalation studies using RTRT.

The correlation evaluation of a tumor tracking system using multiple external markers

The purpose of this study is to evaluate the correlations between external markers and internal targets for radiation therapy of lung cancer patients. Using an infrared camera system coupled with a clinical simulator, the simultaneous motions of multiple external markers and an internal target were obtained. The correlation between external and internal signals was analyzed using a cross-covariance function. A linear regression model was employed to generate a composite signal from multiple external markers in order to predict the internal target motion. The external and internal signals, and their correlations, demonstrated a wide range of variation with respect to marker location, motion dimension, and breathing pattern. The performance of the composite signal indicates that when more external signals were taken into account, the mean correlation between the composite signal and internal signal was improved. This implies that a combination of multiple external signals might be an improved way to predict internal target motion. Also, since the characteristics of respiratory signals can vary significantly, certain methods of preprocessing and external signal combination are necessary.

The management of respiratory motion in radiation oncology report of AAPM Task Group 76

This document is the report of a task group of the AAPM and has been prepared primarily to advise medical physicists involved in the external-beam radiation therapy of patients with thoracic, abdominal, and pelvic tumors affected by respiratory motion. This report describes the magnitude of respiratory motion, discusses radiotherapy specific problems caused by respiratory motion, explains techniques that explicitly manage respiratory motion during radiotherapy and gives recommendations in the application of these techniques for patient care, including quality assurance (QA) guidelines for these devices and their use with conformal and intensity modulated radiotherapy. The technologies covered by this report are motion-encompassing methods, respiratory gated techniques, breath-hold techniques, forced shallow-breathing methods, and respiration-synchronized techniques. The main outcome of this report is a clinical process guide for managing respiratory motion. Included in this guide is the recommendation that tumor motion should be measured (when possible) for each patient for whom respiratory motion is a concern. If target motion is greater than 5 mm, a method of respiratory motion management is available, and if the patient can tolerate the procedure, respiratory motion management technology is appropriate. Respiratory motion management is also appropriate when the procedure will increase normal tissue sparing. Respiratory motion management involves further resources, education and the development of and adherence to QA procedures.

Benefit of three-dimensional image-guided stereotactic localization in the hypofractionated treatment of lung cancer

PURPOSE

The aim of this study was to investigate the benefit of image-guided stereotactic localization in the hypofractionated treatment for medically inoperable non-small-cell lung cancer.

METHODS AND MATERIALS

A stereotactic body localizer (SBL) system was used for patient immobilization, reliable image registration among multiphase computed tomography (CT) scanning, and image-guided stereotactic localization. Three sets of CT scans were taken (free breathing, and breath holding at the end-tidal inspiration and expiration, respectively) to contrast target motion. Target delineation was performed on all 3 sets of images and the combination of the targets forms an internal target volume (ITV). In this retrospective study of treatment dose verification, we performed image fusion between the simulation CT scan and each pretreatment CT scan to obtain the same target and critical structure information. The same treatment plans were reloaded onto each pretreatment CT scan with their respective stereotactic coordinate system. The changes in dose distributions were assessed by dose-volume histograms of the planning target volume (PTV) and the critical structures before and after isocenter corrections which were prompted by image-guided stereotactic localization. We compared D95, D99, and V95 for the PTV and internal target volume, and V20 and V30 for the ipsilateral lung.

RESULTS

Our retrospective study for 10 patients with 40 dose reconstructions showed that the average D95, D99, and V95 of the PTVs are 92.1%, 88.1%, and 95.8% of the planned values before isocenter corrections. With the corrections, all of these values are improved to 100% of the planned values.

CONCLUSIONS

Three-dimensional image guidance is crucial for stereotactic radiotherapy of lung tumors.