Direct aperture optimization: a turnkey solution for step-and-shoot IMRT

An arc-sequencing algorithm for intensity modulated arc therapy

Intensity modulated arc therapy (IMAT) is an intensity modulated radiation therapy delivery technique originally proposed as an alternative to tomotherapy. IMAT uses a series of overlapping arcs to deliver optimized intensity patterns from each beam direction. The full potential of IMAT has gone largely unrealized due in part to a lack of robust and commercially available inverse planning tools. To address this, we have implemented an IMAT arc-sequencing algorithm that translates optimized intensity maps into deliverable IMAT plans. The sequencing algorithm uses simulated annealing to simultaneously optimize the aperture shapes and weights throughout each arc. The sequencer enforces the delivery constraints while minimizing the discrepancies between the optimized and sequenced intensity maps. The performance of the algorithm has been tested for ten patient cases (3 prostate, 3 brain, 2 head-and-neck, 1 lung, and 1 pancreas). Seven coplanar IMAT plans were created using an average of 4.6 arcs and 685 monitor units. Additionally, three noncoplanar plans were created using an average of 16 arcs and 498 monitor units. The results demonstrate that the arc sequencer can provide efficient and highly conformal IMAT plans. An average sequencing time of approximately 20 min was observed.

Jaws-only IMRT using direct aperture optimization

Using direct aperture optimization, we have developed an inverse planning approach that is capable of producing efficient intensity modulated radiotherapy (IMRT) treatment plans that can be delivered without a multileaf collimator. This "jaws-only" approach to IMRT uses a series of rectangular field shapes to achieve a high degree of intensity modulation from each beam direction. Direct aperture optimization is used to directly optimize the jaw positions and the relative weights assigned to each aperture. Because the constraints imposed by the jaws are incorporated into the optimization, the need for leaf sequencing is eliminated. Results are shown for five patient cases covering three treatment sites: pancreas, breast, and prostate. For these cases, between 15 and 20 jaws-only apertures were required per beam direction in order to obtain conformal IMRT treatment plans. Each plan was delivered to a phantom, and absolute and relative dose measurements were recorded. The typical treatment time to deliver these plans was 18 min. The jaws-only approach provides an additional IMRT delivery option for clinics without a multileaf collimator.

Overview of image-guided radiation therapy

Radiation therapy has gone through a series of revolutions in the last few decades and it is now possible to produce highly conformal radiation dose distribution by using techniques such as intensity-modulated radiation therapy (IMRT). The improved dose conformity and steep dose gradients have necessitated enhanced patient localization and beam targeting techniques for radiotherapy treatments. Components affecting the reproducibility of target position during and between subsequent fractions of radiation therapy include the displacement of internal organs between fractions and internal organ motion within a fraction. Image-guided radiation therapy (IGRT) uses advanced imaging technology to better define the tumor target and is the key to reducing and ultimately eliminating the uncertainties. The purpose of this article is to summarize recent advancements in IGRT and discussed various practical issues related to the implementation of the new imaging techniques available to radiation oncology community. We introduce various new IGRT concepts and approaches, and hope to provide the reader with a comprehensive understanding of the emerging clinical IGRT technologies. Some important research topics will also be addressed.

Direct aperture deformation: An interfraction image guidance strategy

A new scheme, called direct aperture deformation (DAD), for online correction of interfraction geometric uncertainties under volumetric imaging guidance is presented. Using deformable image registration, the three-dimensional geometric transformation matrix can be derived that associates the planning image set and the images acquired on the day of treatment. Rather than replanning or moving the patient, we use the deformation matrix to morph the treatment apertures as a potential online correction method. A proof-of-principle study using an intensity-modulated radiation therapy plan for a prostate cancer patient was conducted. The method, procedure, and algorithm of DAD are described. The dose-volume histograms from the original plan, reoptimized plan, and rigid-body translation plan are compared with the ones from the DAD plan. The study showed the feasibility of the DAD as a general method for both target dislocation and deformation. As compared with using couch translation to move the patient, DAD is capable of correcting both target dislocation and deformations. As compared with reoptimization, online correction using the DAD scheme could be completed within a few minutes rather than tens of minutes and the speed gain would be at a very small cost of plan quality.

Direct aperture optimization of breast IMRT and the dosimetric impact of respiration motion

We have studied the application of direct aperture optimization (DAO) as an inverse planning tool for breast IMRT. Additionally, we have analysed the impact of respiratory motion on the quality of the delivered dose distribution. From this analysis, we have developed guidelines for balancing the desire for a high-quality optimized plan with the need to create a plan that will not degrade significantly in the presence of respiratory motion. For a DAO optimized breast IMRT plan, the tangential fields incorporate a flash field to cover the range of respiratory motion. The inverse planning algorithm then optimizes the shapes and weights of additional segments that are delivered in combination with the open fields. IMRT plans were generated using DAO with the relative weights of the open segments varied from 0% to 95%. To assess the impact of breathing motion, the dose distribution for the optimized IMRT plan was recalculated with the isocentre sampled from a predefined distribution in a Monte Carlo convolution/superposition dose engine with the breast simulated as a rigid object. The motion amplitudes applied in this study ranged from 0.5 to 2.0 cm. For a range of weighting levels assigned to the open field, comparisons were made between the static plans and the plans recalculated with motion. For the static plans, we found that uniform dose distributions could be generated with relative weights for the open segments equal to and below 80% and unacceptable levels of underdosage were observed with the weights larger than 80%. When simulated breathing motion was incorporated into the dose calculation, we observed a loss in dose uniformity as the weight of the open field was decreased to below 65%. More quantitatively, for each 1% decrease in the weight, the per cent volume of the target covered by at least 95% of the prescribed dose decreased by approximately 0.10% and 0.16% for motion amplitudes equal to 1.5 cm and 2.0 cm, respectively. When taking into account the motion effects, the most uniform and conformal dose distributions were achieved when the open segment weights were in the range of 65-80%. Within this range, high-quality IMRT plans were produced for each case. The study demonstrates that DAO with tangential fields provides a robust and efficient technique for breast IMRT planning and delivery when the open segment weight is selected between 65% and 80%.

Tomotherapy and other innovative IMRT delivery systems

Fixed-field treatments, delivered using conventional clinical linear accelerators fitted with multileaf collimators, have rapidly become the standard form of intensity-modulated radiotherapy (IMRT). Several innovative nonstandard alternatives also exist, for which delivery and treatment planning systems are now commercially available. Three of these nonstandard IMRT approaches are reviewed here: tomotherapy, robotic linear accelerators (CyberKnife, Accuray Inc., Sunnyvale, CA), and standard linear accelerators modulated by jaws alone or by their jaws acting together with a tertiary beam-masking device. Rationales for the nonstandard IMRT approaches are discussed, and elements of their delivery system designs are briefly described. Differences between fixed-field IMRT dose distributions and the distributions that can be delivered by using the nonstandard technologies are outlined. Because conventional linear accelerators are finely honed machines, innovative design enhancement of one aspect of system performance often limits another facet of machine capability. Consequently the various delivery systems may prove optimal for different types of treatment, with specific machine designs excelling for disease sites with specific target volume and normal structure topologies. However it is likely that the delivery systems will be distinguished not just by the optimality of the dose distributions they deliver, but also by factors such as the efficiency of their treatment process, the integration of their onboard imaging systems into that process, and their ability to measure and minimize or compensate for target movement, including the effects of respiratory motion.

Alternative Methods for Intensity-Modulated Radiation Therapy Inverse Planning and Dose Delivery

A large number of IMRT systems are currently being marketed. Many of these systems appear to be unique, and manufacturers often emphasize design differences as they argue the merits of their particular approach. This paper focuses on highlighting the underlying feature that is intrinsically part of all IMRT systems. On the other hand, major differences often appear at the implementation stage for dose delivery. Such variations are evident because each manufacturer has a unique approach to balancing the issues of treatment time, leakage radiation reaching the patient's total body, aperture approximation of the ideal intensity maps, increasing the angles of approach for the treatment fields, integration of on-line imaging, selection of treatment distance, availability of different photon energies, and overall system complexity (i.e., cost). How these different issues are handled in the process of system design affects the relative advantages and disadvantages that appear in the final product. This paper takes the approach of dividing the various IMRT methods into categories that are divided roughly along the lines of the technique used during dose delivery to approximate the intensity patterns. Other features of each system are included under these sub-sections.

Direct aperture optimization for IMRT using Monte Carlo generated beamlets

This work introduces an EGSnrc-based Monte Carlo (MC) beamlet does distribution matrix into a direct aperture optimization (DAO) algorithm for IMRT inverse planning. The technique is referred to as Monte Carlo-direct aperture optimization (MC-DAO). The goal is to assess if the combination of accurate Monte Carlo tissue inhomogeneity modeling and DAO inverse planning will improve the dose accuracy and treatment efficiency for treatment planning. Several authors have shown that the presence of small fields and/or inhomogeneous materials in IMRT treatment fields can cause dose calculation errors for algorithms that are unable to accurately model electronic disequilibrium. This issue may also affect the IMRT optimization process because the dose calculation algorithm may not properly model difficult geometries such as targets close to low-density regions (lung, air etc.). A clinical linear accelerator head is simulated using BEAMnrc (NRC, Canada). A novel in-house algorithm subdivides the resulting phase space into 2.5 X 5.0 mm2 beamlets. Each beamlet is projected onto a patient-specific phantom. The beamlet dose contribution to each voxel in a structure-of-interest is calculated using DOSXYZnrc. The multileaf collimator (MLC) leaf positions are linked to the location of the beamlet does distributions. The MLC shapes are optimized using direct aperture optimization (DAO). A final Monte Carlo calculation with MLC modeling is used to compute the final dose distribution. Monte Carlo simulation can generate accurate beamlet dose distributions for traditionally difficult-to-calculate geometries, particularly for small fields crossing regions of tissue inhomogeneity. The introduction of DAO results in an additional improvement by increasing the treatment delivery efficiency. For the examples presented in this paper the reduction in the total number of monitor units to deliver is approximately 33% compared to fluence-based optimization methods.

IMRT: a review and preview

The very first cornerstone paper on intensity-modulated radiation therapy (IMRT) was published in Physics in Medicine and Biology, and many seminal IMRT works have since appeared in this journal. Today IMRT is a widely used clinical treatment modality in many countries. This contribution to the 50th anniversary issue reviews the physical, mathematical, and technological milestones that have facilitated the clinical implementation and success of IMRT. In particular, the basic concepts and developments of both IMRT treatment planning ('inverse planning') and the delivery of cone-beam IMRT with a multileaf collimator from a fixed number of static beam directions are discussed. An outlook into the future of IMRT concludes the paper.

The IMRT information process—mastering the degrees of freedom in external beam therapy

The techniques and procedures for intensity-modulated radiation therapy (IMRT) are reviewed in the context of the information process central to treatment planning and delivery of IMRT. A presentation is given of the evolution of the information based radiotherapy workflow and dose delivery techniques, as well as the volume and planning concepts for relating the dose information to image based patient representations. The formulation of the dose shaping process as an optimization problem is described. The different steps in the calculation flow for determination of machine parameters for dose delivery are described starting from the formulation of optimization objectives over dose calculation to optimization procedures. Finally, the main elements of the quality assurance procedure necessary for implementing IMRT clinically are reviewed.

Dosimetric characteristics of a cubic-block-piled compensator for intensity-modulated radiation therapy in the Pinnacle radiotherapy treatment planning system

We examined the dose distributions generated by Pinnacle3 (Philips Radiation Oncology Systems, Milpitas, CA) for intensity‐modulated radiotherapy (IMRT) plans using a cubic‐block‐piled compensator as the intensity modulator for 4‐MV and 10‐MV photon beams. The Pinnacle treatment planning system (TPS) uses an algorithm in which only the physical density of the absorber is required for calculating the characteristics of the modulator. The intensity modulator consists of cubic blocks (attenuator) of a tungsten alloy, plus cubic blocks of polyethylene resin foam that fill the spaces between the attenuator blocks and polymethyl methacrylate (PMMA) boards that act as the platform for the modulator. By measuring the transmission for various thicknesses of attenuator and by deriving values for the total physical density of the modulator, we determined the optimal effective density by comparing the curves fitted for the actual transmission data with the transmission calculated by the TPS. Using these effective densities, we examined the accuracy of Pinnacle3 for dose profiles of specific geometric patterns. The levels of consistency between the measurements and the calculations were within a tolerance of 3% of the dose difference and had a 3‐mm distance to agreement for the ladder‐, stairstep‐, and pyramid‐shaped test patterns, except in the high dose gradient region. In this modulator assembly, leakage occurred from the slits between the cubic blocks. This leakage was about 1.6% at maximum, and its influence on dose distribution was not crucial. In the TPS, in which physical density was the only user‐controllable parameter, we used the effective density of the absorber deduced from the effective mass attenuation coefficient. We conclude that the intensity modulation compensator system, together with a piled cubic attenuator, is clinically applicable, with an acceptable tolerance level. For the intensity map of the IMRT plan, measurements in treatment fields met 3% and 3‐mm criteria, excluding some regions of high gradient, which had a discrepancy of less than 5% and 4 mm.

PACS numbers: 87.53.Mr, 87.53.Tf

Intensity-modulated radiotherapy of breast cancer using direct aperture optimization

BACKGROUND AND PURPOSE

To design a clinically reliable and efficient step-and-shoot IMRT delivery technique for the treatment of breast cancer using direct aperture optimization (DAO). Using DAO, segments are created and optimized within the same optimization process.

PATIENTS AND METHODS

The DAO technique implemented in the Pinnacle treatment planning system, which is called direct machine parameter optimization (DMPO), was used to generate IMRT plans for twelve breast cancer patients. The prescribed dose was 50 Gy. Two DMPO plans were generated. The first approach uses DMPO only; the second technique combines DMPO with two predefined segments (DMPO(segm)), having shapes identical to the conventional tangential fields. The weight of these predefined segments is optimized simultaneously with DMPO. The DMPO plans were compared with normal two-step (TS) IMRT, creating segments after optimizing the intensity.

RESULTS

Dose homogeneity within the target volume was 4.8+/-0.6, 4.3+/-0.5 and 3.8+/-0.5 Gy for the TS, DMPO and DMPO(segm) plans, respectively. Comparing the IMRT plans with an idealized dose distribution obtained using only beamlet optimization, the degradation of the dose distribution was less for the DMPO plans compared with the two-step IMRT approach. Furthermore, this degradation was similar for all patients, while for the two-step IMRT approach it was patient specific.

CONCLUSIONS

An efficient step-and-shoot IMRT solution was developed for the treatment of breast cancer using DMPO combined with two predefined segments.

Constrained segment shapes in direct-aperture optimization for step-and-shoot IMRT

Previous studies have shown that, by optimizing segment shapes and weights directly, without explicitly optimizing fluence profiles, effective IMRT plans can be generated with fewer segments. This study proposes a method of direct-aperture optimization with aperture shape constraints, which is designed to provide segmental IMRT plans using a minimum of simple, regular segments. The method uses a cubic function to create smoothly curving multileaf collimator shapes. Constraints on segment dimension and equivalent square are applied, and each segment can be constrained to lie within the previous one, for easy generation of fluence profiles with a single maximum. To simply optimize the segment shapes and reject any shapes which violate the constraints is too inefficient, so an innovative method of feedback optimization is used to ensure in advance that viable aperture shapes are generated. The algorithm is demonstrated using a simple cylindrical phantom consisting of a hemi-annular planning target volume and a central cylindrical organ-at-risk. A simple IMRT rectum case is presented, where segments are used to replace a wedge. More complex cases of prostate and seminal vesicles and prostate and pelvic nodes are also shown. The algorithm produces effective plans in each case with three to five segments per beam. For the simple plans, the constraint that each segment should be contained within the previous one adds additional simplicity to the plan, for a small reduction in plan quality. This study confirms that direct-aperture optimization gives efficient solutions to the segmental IMRT inverse problem and provides a method for generating simple apertures. By using such a method, the workload of IMRT verification may be reduced and simplified, as verification of fluence profiles from individual beams may be eliminated.

2-Step IMAT and 2-Step IMRT in three dimensions

In two dimensions, 2-Step Intensity Modulated Arc Therapy (2-Step IMAT) and 2-Step Intensity Modulated Radiation Therapy (IMRT) were shown to be powerful methods for the optimization of plans with organs at risk (OAR) (partially) surrounded by a target volume (PTV). In three dimensions, some additional boundary conditions have to be considered to establish 2-Step IMAT as an optimization method. A further aim was to create rules for ad hoc adaptations of an IMRT plan to a daily changing PTV-OAR constellation. As a test model, a cylindrically symmetric PTV-OAR combination was used. The centrally placed OAR can adapt arbitrary diameters with different gap widths toward the PTV. Along the rotation axis the OAR diameter can vary, the OAR can even vanish at some axis positions, leaving a circular PTV. The width and weight of the second segment were the free parameters to optimize. The objective function f to minimize was the root of the integral of the squared difference of the dose in the target volume and a reference dose. For the problem, two local minima exist. Therefore, as a secondary criteria, the magnitude of hot and cold spots were taken into account. As a result, the solution with a larger segment width was recommended. From plane to plane for varying radii of PTV and OAR and for different gaps between them, different sets of weights and widths were optimal. Because only one weight for one segment shall be used for all planes (respectively leaf pairs), a strategy for complex three-dimensional (3-D) cases was established to choose a global weight. In a second step, a suitable segment width was chosen, minimizing f for this global weight. The concept was demonstrated in a planning study for a cylindrically symmetric example with a large range of different radii of an OAR along the patient axis. The method is discussed for some classes of tumor/organ at risk combinations. Noncylindrically symmetric cases were treated exemplarily. The product of width and weight of the additional segment as well as the integral across the segment profile was demonstrated to be an important value. This product was up to a factor of 3 larger than in the 2-D case. Even in three dimensions, the optimized 2-Step IMAT increased the homogeneity of the dose distribution in the PTV profoundly. Rules for adaptation to varying target-OAR combinations were deduced. It can be concluded that 2-Step IMAT and 2-Step IMRT are also applicable in three dimensions. In the majority of cases, weights between 0.5 and 2 will occur for the additional segment. The width-weight product of the second segment is always smaller than the normalized radius of the OAR. The width-weight product of the additional segment is strictly connected to the relevant diameter of the organ at risk and the target volume. The derived formulas can be helpful to adapt an IMRT plan to altering target shapes.

Continuous intensity map optimization (CIMO): A novel approach to leaf sequencing in step and shoot IMRT

A new leaf-sequencing approach has been developed that is designed to reduce the number of required beam segments for step-and-shoot intensity modulated radiation therapy (IMRT). This approach to leaf sequencing is called continuous-intensity-map-optimization (CIMO). Using a simulated annealing algorithm, CIMO seeks to minimize differences between the optimized and sequenced intensity maps. Two distinguishing features of the CIMO algorithm are (1) CIMO does not require that each optimized intensity map be clustered into discrete levels and (2) CIMO is not rule-based but rather simultaneously optimizes both the aperture shapes and weights. To test the CIMO algorithm, ten IMRT patient cases were selected (four head-and-neck, two pancreas, two prostate, one brain, and one pelvis). For each case, the optimized intensity maps were extracted from the Pinnacle3 treatment planning system. The CIMO algorithm was applied, and the optimized aperture shapes and weights were loaded back into Pinnacle. A final dose calculation was performed using Pinnacle's convolution/superposition based dose calculation. On average, the CIMO algorithm provided a 54% reduction in the number of beam segments as compared with Pinnacle's leaf sequencer. The plans sequenced using the CIMO algorithm also provided improved target dose uniformity and a reduced discrepancy between the optimized and sequenced intensity maps. For ten clinical intensity maps, comparisons were performed between the CIMO algorithm and the power-of-two reduction algorithm of Xia and Verhey [Med. Phys. 25(8), 1424-1434 (1998)]. When the constraints of a Varian Millennium multileaf collimator were applied, the CIMO algorithm resulted in a 26% reduction in the number of segments. For an Elekta multileaf collimator, the CIMO algorithm resulted in a 67% reduction in the number of segments. An average leaf sequencing time of less than one minute per beam was observed.

An examination of the number of required apertures for step-and-shoot IMRT

We have examined the degree to which step-and-shoot IMRT treatment plans can be simplified (using a small number of apertures) without sacrificing the dosimetric quality of the plans. A key element of this study was the use of direct aperture optimization (DAO), an inverse planning technique where all of the multi-leaf collimator constraints are incorporated into the optimization. For seven cases (1 phantom, 1 prostate, 3 head-and-neck and 2 lung), DAO was used to perform a series of optimizations where the number of apertures per beam direction varied from 1 to 15. In this work, we attempt to provide general guidelines for how many apertures per beam direction are sufficient for various clinical cases using DAO. Analysis of the optimized treatment plans reveals that for most cases, only modest improvements in the objective function and the corresponding DVHs are seen beyond 5 apertures per beam direction. However, for more complex cases, some dosimetric gain can be achieved by increasing the number of apertures per beam direction beyond 5. Even in these cases, however, only modest improvements are observed beyond 9 apertures per beam direction. In our clinical experience, 38 out of the first 40 patients treated using IMRT plans produced using DAO were treated with 9 or fewer apertures per beam direction. The results indicate that many step-and-shoot IMRT treatment plans delivered today are more complex than necessary and can be simplified without sacrificing plan quality.

Effect of beamlet step-size on IMRT plan quality

We have studied the degree to which beamlet step-size impacts the quality of intensity modulated radiation therapy (IMRT) treatment plans. Treatment planning for IMRT begins with the application of a grid that divides each beam's-eye-view of the target into a number of smaller beamlets (pencil beams) of radiation. The total dose is computed as a weighted sum of the dose delivered by the individual beamlets. The width of each beamlet is set to match the width of the corresponding leaf of the multileaf collimator (MLC). The length of each beamlet (beamlet step-size) is parallel to the direction of leaf travel. The beamlet step-size represents the minimum stepping distance of the leaves of the MLC and is typically predetermined by the treatment planning system. This selection imposes an artificial constraint because the leaves of the MLC and the jaws can both move continuously. Removing the constraint can potentially improve the IMRT plan quality. In this study, the optimized results were achieved using an aperture-based inverse planning technique called direct aperture optimization (DAO). We have tested the relationship between pencil beam step-size and plan quality using the American College of Radiology's IMRT test case. For this case, a series of IMRT treatment plans were produced using beamlet step-sizes of 1, 2, 5, and 10 mm. Continuous improvements were seen with each reduction in beamlet step size. The maximum dose to the planning target volume (PTV) was reduced from 134.7% to 121.5% and the mean dose to the organ at risk (OAR) was reduced from 38.5% to 28.2% as the beamlet step-size was reduced from 10 to 1 mm. The smaller pencil beam sizes also led to steeper dose gradients at the junction between the target and the critical structure with gradients of 6.0, 7.6, 8.7, and 9.1 dose%/mm achieved for beamlet step sizes of 10, 5, 2, and 1 mm, respectively.

Sweeping-window arc therapy: an implementation of rotational IMRT with automatic beam-weight calculation

Sweeping-window arc therapy (SWAT) is a variation of intensity-modulated radiation therapy (IMRT) with direct aperture optimization (DAO) that is initialized with a leaf sequence of sweeping windows that move back and forth periodically across the target as the gantry rotates. This initial sequence induces modulation in the dose and is assumed to be near enough to a minimum to allow successful optimization, done with simulated annealing, without requiring excessive leaf speeds. Optimal beam weights are calculated analytically, with easy extension to allow for variable beam weights. In this paper SWAT is tested on a phantom model and clinical prostate case. For the phantom, constant and variable beam weights are used. Although further work (in particular, improving the dose model) is required, the results show SWAT to be a feasible approach to generating deliverable dynamic arc treatments that are optimized.

Clinical knowledge-based inverse treatment planning

Clinical IMRT treatment plans are currently made using dose-based optimization algorithms, which do not consider the nonlinear dose-volume effects for tumours and normal structures. The choice of structure specific importance factors represents an additional degree of freedom of the system and makes rigorous optimization intractable. The purpose of this work is to circumvent the two problems by developing a biologically more sensible yet clinically practical inverse planning framework. To implement this, the dose-volume status of a structure was characterized by using the effective volume in the voxel domain. A new objective function was constructed with the incorporation of the volumetric information of the system so that the figure of merit of a given IMRT plan depends not only on the dose deviation from the desired distribution but also the dose-volume status of the involved organs. The conventional importance factor of an organ was written into a product of two components: (i) a generic importance that parametrizes the relative importance of the organs in the ideal situation when the goals for all the organs are met; (ii) a dose-dependent factor that quantifies our level of clinical/dosimetric satisfaction for a given plan. The generic importance can be determined a priori, and in most circumstances, does not need adjustment, whereas the second one, which is responsible for the intractable behaviour of the trade-off seen in conventional inverse planning, was determined automatically. An inverse planning module based on the proposed formalism was implemented and applied to a prostate case and a head-neck case. A comparison with the conventional inverse planning technique indicated that, for the same target dose coverage, the critical structure sparing was substantially improved for both cases. The incorporation of clinical knowledge allows us to obtain better IMRT plans and makes it possible to auto-select the importance factors, greatly facilitating the inverse planning process. The new formalism proposed also reveals the relationship between different inverse planning schemes and gives important insight into the problem of therapeutic plan optimization. In particular, we show that the EUD-based optimization is a special case of the general inverse planning formalism described in this paper.

New Radiation Therapy Techniques for the Treatment of Head and Neck Cancer

This article reviews the most recent technology used in the treatment of head and neck cancer. It discusses brachytherapy, new ways to mix radionuclides for enhanced radiobiologic effects, and different fractionation schemes that have grown in clinical importance. Intensity-modulated radiotherapy has become a mainstay in head and neck cancer treatment, and the authors discuss several popular and emerging approaches. Patient immobilization and imaging are also discussed.

2-Step IMAT and 2-Step IMRT: A geometrical approach

The purpose of this paper is to develop a method that reduces the number of segments for intensity modulated arc therapy (IMAT) and intensity modulated radiotherapy (IMRT) for concave target volumes (TV). The aim was to utilize no more than two intensity levels per organ at risk (OAR) and to derive both optimal segment widths and weights from geometric considerations. Brahme's model of an annular target surrounding a circular OAR was used as test model. Brahme's solution was substituted by a single segment added to a simple field blocking the OAR. Width and weight of the segment were the free parameters to optimize. The objective function to minimize was the root mean square (rms) error of the dose in the target volume. One boundary condition was--neglecting scatter--"zero-dose" to the OAR. The resulting rules for width and weight of the additive segment are referred to as "optimized 2-Step IMAT" and "2-Step IMRT." The recommendations were applied to some simplified plans representing clinical cases using a commercial planning system. Optimized 2-Step IMAT improved the rms by a factor of 4 with respect to techniques simply blocking the OAR. The additional segment reduced the rms below 3% for cases with gaps between OAR and TV larger than 8% of the TV diameter. The results for 2-Step IMAT are applicable to IMRT and aperture modulated arc therapy (AMAT). 2-Step IMAT can be utilized for noncylindrical cases and for more than one OAR. A geometrical and topological approach to IMAT and IMRT can be useful to understand fluence profiles. The results could be applied to ameliorate other topology-based procedures used in some planning systems. Basic mechanisms of 2-Step IMAT can assist with the creation of rules for adaptive IMRT to compensate for patient motion.

Inverse treatment planning using volume-based objective functions

The results of optimization of inverse treatment plans depend on a choice of the objective function. Even when the optimal solution for a given cost function can be obtained, a better solution may exist for a given clinical scenario and it could be obtained with a revised objective function. In the approach presented in this work mixed integer programming was used to introduce a new volume-based objective function, which allowed for minimization of the number of under- or overdosed voxels in selected structures. By selecting and prioritizing components of this function the user could drive the computations towards the desired solution. This optimization approach was tested using cases of patients treated for prostate and oropharyngeal cancer. Initial solutions were obtained based on minimization/maximization of the dose to critical structures and targets. Subsequently, the volume-based objective functions were used to locate solutions, which satisfied better clinical objectives particular to each of the cases. For prostate cases, these additional solutions offered further improvements in sparing of the rectum or the bladder. For oropharyngeal cases, families of solutions were obtained satisfying an intensity modulated radiation therapy protocol for this disease site, while offering significant improvement in the sparing of selected critical structures, e.g., parotid glands. An additional advantage of the present approach was in providing a convenient mechanism to test the feasibility of the dose-volume histogram constraints.

Simultaneous integrated boost for breast cancer using imrt: a radiobiological and treatment planning study

PURPOSE

The purpose of this work is to explore the possibility of using intensity-modulated radiation therapy (IMRT) to deliver the boost dose to the tumor bed simultaneously with the whole-breast IMRT to reduce the radiation treatment time by 1-2 weeks.

METHODS AND MATERIALS

The biologically effective dose (BED) for different treatments was calculated using the linear-quadratic (LQ) model with parameters previously derived for breast cancer from clinical data (alpha/beta = 10Gy, alpha = 0.3Gy(-1)). A potential doubling time of 15 days (from in vitro measurements) for breast cancer and a generic alpha/beta ratio of 3 Gy for normal tissues were used. A series of regimens that use IMRT as initial treatment and an IMRT simultaneous integrated boost (SIB) were derived using biologic equivalence to conventional schedules. Possible treatment plans with IMRT SIB to the tumor bed were generated for 2 selected breast patients, 1 with a shallow tumor and 1 with a deep-seated tumor. Plans with a simultaneous integrated electron boost were also generated for comparison. Dosimetric merits of these plans were evaluated based on dose volume histograms.

RESULTS

A commonly used conventional treatment of 45 Gy (1.8 Gy x 25) to the whole breast and then a boost of 20 Gy (2 Gy x 10) is biologically equivalent to an alternative plan of 1.8 Gy x 25 to the whole breast with a 2.4 Gy x 25 SIB to the tumor bed. The new regime reduces treatment time from 7 to 5 weeks. For the patient with a deep-seated tumor, the IMRT plans reduce the volume of the breast that receives high doses (compared with the conventional photon boost plan) and provides good coverage of the target volumes.

CONCLUSION

It is biologically and dosimetrically feasible to reduce the overall treatment time for breast radiotherapy by using an IMRT simultaneous integrated boost. For selected patient groups, IMRT plans with a new regimen can be equal to or better than conventional plans.

Genetic algorithm based deliverable segments optimization for static intensity-modulated radiotherapy

The static delivery technique (also called step-and-shoot technique) has been widely used in intensity-modulated radiotherapy (IMRT) because of the simple delivery and easy quality assurance. Conventional static IMRT consists of two steps: first to calculate the intensity-modulated beam profiles using an inverse planning algorithm, and then to translate these profiles into a series of uniform segments using a leaf-sequencing tool. In order to simplify the procedure and shorten the treatment time of the static mode, an efficient technique, called genetic algorithm based deliverable segments optimization (GADSO), is developed in our work, which combines these two steps into one. Taking the pre-defined beams and the total number of segments per treatment as input, the number of segments for each beam, the segment shapes and weights are determined automatically. A group of interim modulated beam profiles quickly calculated using a conjugate gradient (CG) method are used to determine the segment number for each beam and to initialize segment shapes. A modified genetic algorithm based on a two-dimensional binary coding scheme is used to optimize the segment shapes, and a CG method is used to optimize the segment weights. The physical characters of a multileaf collimator, such as the leaves interdigitation limitation and leaves maximum over-travel distance, are incorporated into the optimization. The algorithm is applied to some examples and the results demonstrate that GADSO is able to produce highly conformal dose distributions using 20-30 deliverable segments per treatment within a clinically acceptable computation time.

Automatic generation of anatomy-based MLC fields in aperture-based IMRT

We have developed an algorithm to automatically generate anatomy-based MLC fields. For each beam, a first field is adjusted to the projection of the target in a beam's eye view, allowing subsequent fields to be derived from this conformal field by removing the overlapping surface of each organ at risk, respectively. The projections are based on a surface sampling of the anatomical structures. On top of the MLC mechanical constraints, verification constraints are imposed on the MLC segments, in order to get reliable dosimetry using a commercial dose calculation engine. Thus, in each direction, the aperture's cross-section must be greater than a specified threshold, in our case 2 cm. Furthermore, junctions are not tolerated in order to avoid underdosage, for instance from the tongue-and-groove effect. The use of such MLC fields simplifies the verification process. The performance of the algorithm is illustrated for head and neck, thorax and prostate cases. Only a fraction of a second of CPU time is required to perform the segmentation for each beam.

A method to improve spatial resolution and smoothness of intensity profiles in IMRT treatment planning

In IMRT optimization, the size of beamlets used for optimizing the beam intensity distributions is a planner-selected parameter. The appropriate setting for the beamlet size is critical to the outcome of IMRT planning. With too small beamlets the dose calculation can be inaccurate, and the resulting intensity profiles can be unnecessarily complex and difficult to generate. Relatively simple intensity profiles can be obtained using large beamlets. However, this may compromise the conformity of the dose distribution. In this paper we present a method, in which multiple beamlet matrices displaced from each other by a shift in MLC leaf travel direction are used instead of the single beamlet matrix per beam in a conventional method, to achieve finer spatial resolution for the intensity distribution than the given beamlet size. Two test cases were used to assess the method by the resultant DVHs and dose distributions and characteristic indices of the intensity profiles. The results show that this method can produce optimized dose distributions that are similar to those produced by the conventional inverse planning method with the benefit of smoother intensity profiles that are easier to deliver with a computer controlled MLC.

A new algorithm for determining collimator angles that favor efficiency in MLC based IMRT delivery

A new algorithm to determine collimator angles that favor delivery efficiency of intensity modulated radiotherapy plans was developed. It was found that the number of segments and monitor units (MUs) were largely reduced with the set of collimator angles determined with the new algorithm without compromising plan quality. The improvement of delivery efficiency using the new algorithm depends on the size and shape of the target(s), the number of modulation levels, and the type of leaf-sequencing algorithm. In a typical prostate case, when a sweeping leaf-sequencer is used for Varian 120 leaf (0.5 x 0.5 cm2 beamlet), 80 leaf (1 x 1 cm2 beamlet) and Elekta 40 leaf (1 x 1 cm2 beamlet), the number of segments was reduced by 42%, 29%, and 5%, respectively. The number of MUs was reduced by 41%, 35%, and 10%. For the Siemens MLC (IMFAST leaf sequencer, 1 x 1 cm2 beamlet) the segment reduction was 32% and the MU reduction was 14%. Comparison of the plans using the new and Brahme algorithms, in terms of target conformity index and dose volume histogram of the organs at risk, showed that the quality of the plans using the new algorithm was uncompromised. Similar results were obtained for a set of head and neck treatment plans.

A new smoothing procedure to reduce delivery segments for static MLC-based IMRT planning

In the application of pixel-based intensity-modulated radiation therapy (IMRT) using the step-and-shoot delivery method, one major difficulty is the prolonged delivery time. In this study, we present an integrated IMRT planning system that involves a simple smoothing method to reduce the complexity of the beam profiles. The system consists of three main steps: (a) an inverse planning process based on a least-square dose-based cost function; (b) smoothing of the intensity maps; (c) reoptimization of the segment weights. Step (a) obtains the best plan with the lowest cost value using a simulated annealing optimization algorithm with discrete intensity levels. Step (b) takes the intensity maps obtained from (a) and reduces the complexity of the maps by smoothing the adjacent beamlet intensities. During this process each beamlet is assigned a structure index based on anatomical information. A smoothing update is applied to average adjacent beamlets with the same index. To control the quality of the plan, a predefined clinical protocol is used as an acceptance criterion. The smoothing updates that violate the criterion are rejected. After the smoothing process, the segment weights are reoptimized in step (c) to further improve the plan quality. Three clinical cases were studied using this system: a medulloblastoma, a prostate cancer, and an oropharyngeal carcinoma. While the final plans demonstrate a degradation of the original plan quality, they still meet the plan acceptance criterion. On the other hand, the segment numbers or delivery times are reduced by 40%, 20%, and 20% for the three cases, respectively.

Is tomotherapy the future of IMRT?

Intensity-modulated radiotherapy (IMRT) has become established in many clinics round the world and is, arguably, technically feasible in any facility. Serial tomotherapy contributed an extensive role in its introduction into the mainstream in the second half of the 1990s. In tomotherapy, literally "slice therapy", highly conformal treatments are possible because of the advantages available within the treatment planning of the IMRT process. Currently the majority of clinics implementing IMRT are doing so using conventional clinical linear accelerators (Linacs) fitted with an integrated multileaf collimator (MLC). At this point in time we may wonder if there is any scope for further dramatic changes in this new technology. As we venture from IMRT initial implementation into image guided therapy it is clear that major changes in approach are still valid and needed. If, at each treatment fraction, we can ensure that treatments are delivered accurately by integration of volumetric imaging into on-line validation, then we can attempt higher levels of conformality. A new treatment machine, the helical tomotherapy system, is available that combines the benefits of tomotherapy with on-line volumetric imaging. In this article we will review this approach and explore its features.

Direct aperture optimization for a variable aperture collimator for intensity-modulated radiation therapy

In this note a technique is described for direct aperture optimization of components deliverable by a variable aperture collimator (VAC) for intensity-modulated radiation therapy. The first key result found was that, provided a large number of VAC components were selected for optimization, the resulting fluence profiles and the dose distribution were quite similar, but not identical, to the outcome of a direct inverse-planning algorithm in which the fluence of each bixel was individually adjusted during the iteration process. A second key feature is the ability to be able to construct highly modulated beams from a quite limited number of such components. It was shown that, when the number fell from 300 to 30, a recognizable conformal dose distribution was still obtainable although poorer. The conclusion was that the technique has the flexibility to cope with optimizing any specified number of VAC components and to observe the effect on the dose distribution of reducing this number.

Impact of prolonged fraction delivery times on tumor control: a note of caution for intensity-modulated radiation therapy (IMRT)

PURPOSE

Intensity-modulated radiation therapy (IMRT) allows greater dose conformity to the tumor target. However, IMRT, especially static delivery, usually requires more time to deliver a dose fraction than conventional external beam radiotherapy (EBRT). The purpose of this work is to explore the potential impact of such prolonged fraction delivery times on treatment outcome.

METHODS AND MATERIALS

The generalized linear-quadratic (LQ) model, which accounts for sublethal damage repair and clonogen proliferation, was used to calculate the cell-killing efficiency of various simulated and clinical IMRT plans. LQ parameters derived from compiled clinical data for prostate cancer (alpha = 0.15 Gy(-1), alpha/beta = 3.1 Gy, and a 16-min repair half-time) were used to compute changes in the equivalent uniform dose (EUD) and tumor control probability (TCP) due to prolonged delivery time of IMRT as compared with conventional EBRT. EUD and TCP calculations were also evaluated for a wide range of radiosensitivity parameters. The effects of fraction delivery times ranging from 0 to 45 min on cell killing were studied.

RESULTS

Our calculations indicate that fraction delivery times in the range of 15-45 min may significantly decrease cell killing. For a prescription dose of 81 Gy in 1.8 Gy fractions, the EUD for prostate cancer decreases from 78 Gy for a conventional EBRT to 69 Gy for an IMRT with a fraction delivery time of 30 min. The values of EUD are sensitive to the alpha/beta ratio, the repair half-time, and the fraction delivery time. The instantaneous dose-rate, beam-on time, number of leaf shapes (segments), and leaf-sequencing patterns given the same overall fraction delivery time were found to have negligible effect on cell killing.

CONCLUSIONS

The total time to deliver a single fraction may have a significant impact on IMRT treatment outcome for tumors with a low alpha/beta ratio and a short repair half-time, such as prostate cancer. These effects, if confirmed by clinical studies, should be considered in designing IMRT treatments.

Segment-based dose optimization using a genetic algorithm

Intensity modulated radiation therapy (IMRT) inverse planning is conventionally done in two steps. Firstly, the intensity maps of the treatment beams are optimized using a dose optimization algorithm. Each of them is then decomposed into a number of segments using a leaf-sequencing algorithm for delivery. An alternative approach is to pre-assign a fixed number of field apertures and optimize directly the shapes and weights of the apertures. While the latter approach has the advantage of eliminating the leaf-sequencing step, the optimization of aperture shapes is less straightforward than that of beamlet-based optimization because of the complex dependence of the dose on the field shapes, and their weights. In this work we report a genetic algorithm for segment-based optimization. Different from a gradient iterative approach or simulated annealing, the algorithm finds the optimum solution from a population of candidate plans. In this technique, each solution is encoded using three chromosomes: one for the position of the left-bank leaves of each segment, the second for the position of the right-bank and the third for the weights of the segments defined by the first two chromosomes. The convergence towards the optimum is realized by crossover and mutation operators that ensure proper exchange of information between the three chromosomes of all the solutions in the population. The algorithm is applied to a phantom and a prostate case and the results are compared with those obtained using beamlet-based optimization. The main conclusion drawn from this study is that the genetic optimization of segment shapes and weights can produce highly conformal dose distribution. In addition, our study also confirms previous findings that fewer segments are generally needed to generate plans that are comparable with the plans obtained using beamlet-based optimization. Thus the technique may have useful applications in facilitating IMRT treatment planning.

A toolbox for intensity modulated radiation therapy optimization

We have designed a toolbox that provides an environment for testing radiotherapy optimization techniques, objective functions, and constraints. A set of three-dimensional (3D) pencil beam dose distributions have been computed for a cylindrical phantom. The 6 MV pencil beams were computed using a superposition-based dose engine commissioned for an Elekta SL20 linear accelerator. Due to the cylindrical symmetry of the phantom, the pencil beam dose distributions for any arbitrary beam angle can be determined by simply rotating the pencil beam data sets. Thus, the full accuracy is maintained without the need for additional dose calculations or large data storage requirements. In addition to the pencil beam data sets, tools are included for (1) rotating the pencil beams, (2) calculating the beam's eye view, (3) drawing structures, (4) writing the pencil beam dose data out to the optimizer, and (5) visualizing the optimized results. The pencil beam data sets and the corresponding tools are available for download at http://medschool.umaryland.edu/departments/radiationoncology/pencilbeam/. With this toolbox, researchers will have the ability to rapidly test new optimization techniques and formulations for intensity modulated radiation therapy and 3D conformal radiotherapy.

Use of a quantitative index of beam modulation to characterize dose conformality: illustration by a comparison of full beamlet IMRT, few-segment IMRT (fsIMRT) and conformal unmodulated radiotherapy

A technique is presented for characterizing the degree of modulation in an intensity-modulated beam. It is shown that the modulation increases as dose conformality increases. Full intensity-modulated radiation therapy (IMRT) is compared with a two-weight-per-field technique and with simple geometrically conformal beams. It is suggested that each individual planning problem requires some comparative planning of this type because there is no simple answer to the question of the degree to which IMRT improves dose conformality. This depends on the problem geometry, the dose prescription, the cost function, the number of beams and other planning conditions. A methodology is presented for such comparative planning studies and this is illustrated with the solution of two planning problems.

Elimination of importance factors for clinically accurate selection of beam orientations, beam weights and wedge angles in conformal radiation therapy

A method of simultaneously optimizing beam orientations, beam weights, and wedge angles for conformal radiotherapy is presented. This method removes the need for importance factors by optimizing one objective only, subject to a set of rigid constraints. This facilitates the production of inverse solutions which, without trial-and-error modification of importance factors, precisely satisfy the specified constraints. The algorithm minimizes an objective function which is based upon the single objective to be optimized, but which is forced to an artificially high value when the constraints are not met, so that only satisfactory solutions are allowed. Due to the complex nature of the objective function space, including multiple local minima separated by large regions of plateau, a random search technique equivalent to fast simulated annealing is used for producing inverse plans. To illustrate the novel features of the new algorithm, a simulation is first presented, for the case of a cylindrical phantom. The morphology of the objective function space is shown to be significantly different for the new algorithm, compared to that for a conventional quadratic objective function. Clinical cases for prostate and craniopharyngioma are then presented. For the prostate case, the objective is to reduce irradiated rectal volume. Three-field, four-field, and six-field optimizations, with or without orientation optimization, are shown to provide solutions which are consistent with previously reported plans and class solutions. For the craniopharyngioma case, which involves the use of a high-precision stereotactic conformal technique, the objective is to reduce the irradiated volume of normal brain. Practically feasible beam angles are produced which, compared to a standard plan, provide a small but worthwhile sparing of normal brain. The algorithm is thereby shown to be robust and suitable for clinical application.

Beam delivery sequencing for intensity modulated proton therapy

Methods of beam fluence sequencing for intensity modulated proton therapy (IMPT) using the beam scanning technique are presented. Proton beam weight maps optimized by the treatment planning system (TPS) for a discrete set of regularly spaced narrow pencil beams were interpolated, using convolution with various kernel functions, to simulate continuous beam scanning on a raster pattern. Expected dose distributions at the proton Bragg peak range were then calculated and compared to those planned by the TPS, to evaluate the discrepancy due to the differences between the treatment planning and delivery approaches. An iteratively optimized adjustment was applied to the simulated continuous beam fluence profiles to reduce such discrepancy. Calculation showed that by accounting for the specifics of the scanning method, the planned dose distribution on the target may be reproduced to within 0.5% of the maximum target dose, given the pencil beam spacing smaller or equal to the beam sigma is used for treatment planning. For the beam weight maps generated using a spot spacing larger than sigma, a substantial reduction in the calculated dose discrepancy may be attained by applying an iterative adjustment of fluence profiles obtained by interpolating over artificially expanded set of beam spots.

Inverse planning for intensity-modulated arc therapy using direct aperture optimization

Intensity-modulated arc therapy (IMAT) is a radiation therapy delivery technique that combines gantry rotation with dynamic multi-leaf collimation (MLC). With IMAT, the benefits of rotational IMRT can be realized using a conventional linear accelerator and a conventional MLC. Thus far, the advantages of IMAT have gone largely unrealized due to the lack of robust automated planning tools capable of producing efficient IMAT treatment plans. This work describes an inverse treatment planning algorithm, called 'direct aperture optimization' (DAO) that can be used to generate inverse treatment plans for IMAT. In contrast to traditional inverse planning techniques where the relative weights of a series of pencil beams are optimized, DAO optimizes the leaf positions and weights of the apertures in the plan. This technique allows any delivery constraints to be enforced during the optimization, eliminating the need for a leaf-sequencing step. It is this feature that enables DAO to easily create inverse plans for IMAT. To illustrate the feasibility of DAO applied to IMAT, several cases are presented, including a cylindrical phantom, a head and neck patient and a prostate patient.