An experimentally validated couch and MLC tracking simulator used to investigate hybrid couch-MLC tracking

The first clinical implementation of real-time 6 degree-of-freedom image-guided radiotherapy for liver SABR patients

PURPOSE

Multiple survey results have identified a demand for improved motion management for liver cancer IGRT. Until now, real-time IGRT for liver has been the domain of dedicated and expensive cancer radiotherapy systems. The purpose of this study was to clinically implement and characterise the performance of a novel real-time 6 degree-of-freedom (DoF) IGRT system, Kilovoltage Intrafraction Monitoring (KIM) for liver SABR patients.

METHODS/MATERIALS

The KIM technology segmented gold fiducial markers in intra-fraction x-ray images as a surrogate for the liver tumour and converted the 2D segmented marker positions into a real-time 6DoF tumour position. Fifteen liver SABR patients were recruited and treated with KIM combined with external surrogate guidance at three radiotherapy centres in the TROG 17.03 LARK multi-institutional prospective clinical trial. Patients were either treated in breath-hold or in free breathing using the gating method. The KIM localisation accuracy and dosimetric accuracy achieved with KIM + external surrogate were measured and the results were compared to those with the estimated external surrogate alone.

RESULTS

The KIM localisation accuracy was 0.2±0.9 mm (left-right), 0.3±0.6 mm (superior-inferior) and 1.2±0.8 mm (anterior-posterior) for translations and -0.1◦±0.8◦ (left-right), 0.6◦±1.2◦ (superior-inferior) and 0.1◦±0.9◦ (anterior-posterior) for rotations. The cumulative dose to the GTV with KIM + external surrogate was always within 5% of the plan. In 2 out of 15 patients, >5% dose error would have occurred to the GTV and an organ-at-risk with external surrogate alone.

CONCLUSIONS

This work demonstrates that real-time 6DoF IGRT for liver can be implemented on standard radiotherapy systems to improve treatment accuracy and safety. The observations made during the treatments highlight the potential false assurance of using traditional external surrogates to assess tumour motion in patients and the need for ongoing improvement of IGRT technologies.

The feasibility of an approximate irregular field dose distribution simulation program applied to a respiratory motion compensation system

PURPOSE

This study optimized our previously proposed simulation program for the approximate irregular field dose distribution (SPAD) and applied it to a respiratory motion compensation system (RMCS) and respiratory motion simulation system (RMSS). The main purpose was to rapidly analyze the two-dimensional dose distribution and evaluate the compensation effect of the RMCS during radiotherapy.

METHODS

This study modified the SPAD to improve the rapid analysis of the dose distribution. In the experimental setup, four different respiratory signal patterns were input to the RMSS for actuation, and an ultrasound image tracking algorithm was used to capture the real-time respiratory displacement, which was input to the RMCS for actuation. A linear accelerator simultaneously irradiated the EBT3 film. The gamma passing rate was used to verify the dose similarity between the EBT3 film and the SPAD, and conformity index (CI) and compensation rate (CR) were used to quantify the compensation effect.

RESULTS

The Gamma passing rates were 70.48-81.39% (2%/2mm) and 88.23-96.23% (5%/3mm) for various collimator opening patterns. However, the passing rates of the SPAD and EBT3 film ranged from 61.85% to 99.85% at each treatment time point. Under the four different respiratory signal patterns, CR ranged between 21% and 75%. After compensation, the CI for 85%, 90%, and 95% isodose constraints were 0.78, 0.57, and 0.12, respectively.

CONCLUSIONS

This study has demonstrated that the dose change during each stage of the treatment process can be analyzed rapidly using the improved SPAD. After compensation, applying the RMCS can reduce the treatment errors caused by respiratory movements.

AAPM Task Group 264: The safe clinical implementation of MLC tracking in radiotherapy

The era of real-time radiotherapy is upon us. Robotic and gimbaled linac tracking are clinically established technologies with the clinical realization of couch tracking in development. Multileaf collimators (MLCs) are a standard equipment for most cancer radiotherapy systems, and therefore MLC tracking is a potentially widely available technology. MLC tracking has been the subject of theoretical and experimental research for decades and was first implemented for patient treatments in 2013. The AAPM Task Group 264 Safe Clinical Implementation of MLC Tracking in Radiotherapy Report was charged to proactively provide the broader radiation oncology community with (a) clinical implementation guidelines including hardware, software, and clinical indications for use, (b) commissioning and quality assurance recommendations based on early user experience, as well as guidelines on Failure Mode and Effects Analysis, and (c) a discussion of potential future developments. The deliverables from this report include: an explanation of MLC tracking and its historical development; terms and definitions relevant to MLC tracking; the clinical benefit of, clinical experience with and clinical implementation guidelines for MLC tracking; quality assurance guidelines, including example quality assurance worksheets; a clinical decision pathway, future outlook and overall recommendations.

Patterns of practice for adaptive and real-time radiation therapy (POP-ART RT) part I: Intra-fraction breathing motion management

PURPOSE

The POP-ART RT study aims to determine to what extent and how intra-fractional real-time respiratory motion management (RRMM) and plan adaptation for inter-fractional anatomical changes (ART), are used in clinical practice and to understand barriers to implementation. Here we report on part I: RRMM.

MATERIAL AND METHODS

A questionnaire was distributed worldwide to assess current clinical practice, wishes for expansion or new implementation and barriers to implementation. RRMM was defined as inspiration/expiration gating in free-breathing or breath-hold, or tracking where the target and the beam are continuously realigned.

RESULTS

The questionnaire was completed by 200 centres from 41 countries. RRMM was used by 68% of respondents ('users') for a median (range) of 2 (1-6) tumour sites. Eighty-one percent of users applied inspiration breath-hold in at least one tumour site (breast: 96%). External marker was used to guide RRMM by 61% of users. KV/MV imaging was frequently used for liver and pancreas (with fiducials) and for lung (with or without fiducials). Tracking was mainly performed on robotic linacs with hybrid internal-external monitoring. For breast and lung, approximately 75% of respondents used or wished to implement RRMM, which was lower for liver (44%) and pancreas (27%). Seventy-one percent of respondents wished to implement RRMM for a new tumour site. Main barriers were human/financial resources and capacity on the machine.

CONCLUSION

Sixty-eight percent of respondents used RRMM and 71% wished to implement RRMM for a new tumour site. The main barriers to implementation were human/financial resources and capacity on treatment machines.

Direct measurement and correction of both megavoltage and kilovoltage scattered x-rays for orthogonal kilovoltage imaging subsystems with dual flat panel detectors

PURPOSE

To measure the scattered x-rays of megavoltage (MV) and kilovoltage (kV) beams (MV scatter and kV scatter, respectively) on the orthogonal kV imaging subsystems of Vero4DRT.

METHODS

Images containing MV- and kV-scatter from another source only (i.e., MV- and kV-scatter maps) were acquired for each investigated flat panel detector. The reference scatterer was a water-equivalent cuboid phantom. The maps were acquired by changing one of the following parameters from the reference conditions while keeping the others fixed: field size: 10.0 × 10.0 cm² ; dose rate: 400 MU/min; gantry and ring angles: 0°; kV collimator aperture size at isocenter: 10.0 × 10.0 cm² : tube voltage: 110 kV; and exposure: 0.8 mAs. The average pixel values of MV- and kV-scatter (i.e., the MV- and kV-scatter values) at the center of each map were calculated and normalized to the MV-scatter value under the reference conditions (MV- and kV-scatter value factor, respectively). In addition, an MV- and kV-scatter correction experiment with intensity-modulated beams was performed using a phantom with four gold markers (GMs). The ratios between the intensities of the GMs and those of their surroundings were calculated.

RESULTS

The measurements showed a strong dependency of the MV-scatter on the field size and dose rate. The maximum MV-scatter value factors were 2.0 at a field size of 15.0 × 15.0 cm² and 2.5 at a dose rate of 500 MU/min. The maximum kV-scatter value was 0.48 with a fully open kV collimator aperture. In the phantom experiment, the intensity ratios of kV images with MV- and kV-scatter were decreased from the reference ones. After correction of kV-scatter only, MV-scatter only, and both MV- and kV-scatter, the intensity ratios gradually improved.

CONCLUSIONS

MV- and kV-scatter could be corrected by subtracting the scatter maps from the projections, and the correction improved the intensity ratios of the GMs.

ESTRO ACROP consensus guideline on the use of image guided radiation therapy for localized prostate cancer

Use of image-guided radiation therapy (IGRT) helps to account for daily prostate position changes during radiation therapy for prostate cancer. However, guidelines for the use of IGRT are scarce. An ESTRO panel consisting of leading radiation oncologists and medical physicists was assembled to review the literature and formulate a consensus guideline of methods and procedure for IGRT in prostate cases. Advanced methods and procedures are also described which the committee judged relevant to further improve clinical practice. Moreover, ranges for margins for the three most popular IGRT scenarios have been suggested as examples.

Real-time intrafraction motion monitoring in external beam radiotherapy

Radiotherapy (RT) aims to deliver a spatially conformal dose of radiation to tumours while maximizing the dose sparing to healthy tissues. However, the internal patient anatomy is constantly moving due to respiratory, cardiac, gastrointestinal and urinary activity. The long term goal of the RT community to 'see what we treat, as we treat' and to act on this information instantaneously has resulted in rapid technological innovation. Specialized treatment machines, such as robotic or gimbal-steered linear accelerators (linac) with in-room imaging suites, have been developed specifically for real-time treatment adaptation. Additional equipment, such as stereoscopic kilovoltage (kV) imaging, ultrasound transducers and electromagnetic transponders, has been developed for intrafraction motion monitoring on conventional linacs. Magnetic resonance imaging (MRI) has been integrated with cobalt treatment units and more recently with linacs. In addition to hardware innovation, software development has played a substantial role in the development of motion monitoring methods based on respiratory motion surrogates and planar kV or Megavoltage (MV) imaging that is available on standard equipped linacs. In this paper, we review and compare the different intrafraction motion monitoring methods proposed in the literature and demonstrated in real-time on clinical data as well as their possible future developments. We then discuss general considerations on validation and quality assurance for clinical implementation. Besides photon RT, particle therapy is increasingly used to treat moving targets. However, transferring motion monitoring technologies from linacs to particle beam lines presents substantial challenges. Lessons learned from the implementation of real-time intrafraction monitoring for photon RT will be used as a basis to discuss the implementation of these methods for particle RT.

Technical Note: In silico and experimental evaluation of two leaf-fitting algorithms for MLC tracking based on exposure error and plan complexity

PURPOSE

Multileaf collimator (MLC) tracking is being clinically pioneered to continuously compensate for thoracic and pelvic motion during radiotherapy. The purpose of this work was to characterize the performance of two MLC leaf-fitting algorithms, direct optimization and piecewise optimization, for real-time motion compensation with different plan complexity and tumor trajectories.

METHODS

To test the algorithms, both in silico and phantom experiments were performed. The phantom experiments were performed on a Trilogy Varian linac and a HexaMotion programmable motion platform. High and low modulation VMAT plans for lung and prostate cancer cases were used along with eight patient-measured organ-specific trajectories. For both MLC leaf-fitting algorithms, the plans were run with their corresponding patient trajectories. To compare algorithms, the average exposure errors, i.e., the difference in shape between ideal and fitted MLC leaves by the algorithm, plan complexity and system latency of each experiment were calculated.

RESULTS

Comparison of exposure errors for the in silico and phantom experiments showed minor differences between the two algorithms. The average exposure errors for in silico experiments with low/high plan complexity were 0.66/0.88 cm² for direct optimization and 0.66/0.88 cm² for piecewise optimization, respectively. The average exposure errors for the phantom experiments with low/high plan complexity were 0.73/1.02 cm² for direct and 0.73/1.02 cm² for piecewise optimization, respectively. The measured latency for the direct optimization was 226 ± 10 ms and for the piecewise algorithm was 228 ± 10 ms. In silico and phantom exposure errors quantified for each treatment plan demonstrated that the exposure errors from the high plan complexity (0.96 cm² mean, 2.88 cm² 95% percentile) were all significantly different from the low plan complexity (0.70 cm² mean, 2.18 cm² 95% percentile) (P < 0.001, two-tailed, Mann-Whitney statistical test).

CONCLUSIONS

The comparison between the two leaf-fitting algorithms demonstrated no significant differences in exposure errors, neither in silico nor with phantom experiments. This study revealed that plan complexity impacts the overall exposure errors significantly more than the difference between the algorithms.

Review of Real-Time 3-Dimensional Image Guided Radiation Therapy on Standard-Equipped Cancer Radiation Therapy Systems: Are We at the Tipping Point for the Era of Real-Time Radiation Therapy?

PURPOSE

To review real-time 3-dimensional (3D) image guided radiation therapy (IGRT) on standard-equipped cancer radiation therapy systems, focusing on clinically implemented solutions.

METHODS AND MATERIALS

Three groups in 3 continents have clinically implemented novel real-time 3D IGRT solutions on standard-equipped linear accelerators. These technologies encompass kilovoltage, combined megavoltage-kilovoltage, and combined kilovoltage-optical imaging. The cancer sites treated span pelvic and abdominal tumors for which respiratory motion is present. For each method the 3D-measured motion during treatment is reported. After treatment, dose reconstruction was used to assess the treatment quality in the presence of motion with and without real-time 3D IGRT. The geometric accuracy was quantified through phantom experiments. A literature search was conducted to identify additional real-time 3D IGRT methods that could be clinically implemented in the near future.

RESULTS

The real-time 3D IGRT methods were successfully clinically implemented and have been used to treat more than 200 patients. Systematic target position shifts were observed using all 3 methods. Dose reconstruction demonstrated that the delivered dose is closer to the planned dose with real-time 3D IGRT than without real-time 3D IGRT. In addition, compromised target dose coverage and variable normal tissue doses were found without real-time 3D IGRT. The geometric accuracy results with real-time 3D IGRT had a mean error of <0.5 mm and a standard deviation of <1.1 mm. Numerous additional articles exist that describe real-time 3D IGRT methods using standard-equipped radiation therapy systems that could also be clinically implemented.

CONCLUSIONS

Multiple clinical implementations of real-time 3D IGRT on standard-equipped cancer radiation therapy systems have been demonstrated. Many more approaches that could be implemented were identified. These solutions provide a pathway for the broader adoption of methods to make radiation therapy more accurate, impacting tumor and normal tissue dose, margins, and ultimately patient outcomes.

Geometric and dosimetric comparison of four intrafraction motion adaptation strategies for stereotactic liver radiotherapy

The accuracy of stereotactic body radiotherapy (SBRT) in the liver is limited by tumor motion. Selection of the most suitable motion mitigation strategy requires good understanding of the geometric and dosimetric consequences. This study compares the geometric and dosimetric accuracy of actually delivered respiratory gated SBRT treatments for 15 patients with liver tumors with three simulated alternative motion adaptation strategies. The simulated alternatives are MLC tracking, baseline shift adaptation by inter-field couch corrections and no intrafraction motion adaptation. The patients received electromagnetic transponder-guided respiratory gated IMRT or conformal treatments in three fractions with a 3-4 mm gating window around the full exhale position. The CTV-PTV margin was 5 mm axially and 7-10 mm cranio-caudally. The CTV and PTV were covered with 95% and 67% of the prescribed mean CTV dose, respectively. The time-resolved target position error during treatments with the four investigated motion adaptation strategies was used to calculate motion margins and the motion-induced reduction in CTV D ₉₅ relative to the planned dose (ΔD ₉₅). The mean (range) number of couch corrections per treatment session to compensate for tumor drift was 2.8 (0-7) with gating, 1.4 (0-5) with baseline shift adaptation, and zero for the other strategies. The motion margins were 3.5 mm (left-right), 9.4 mm (cranio-caudal) and 3.9 mm (anterior-posterior) without intrafraction motion adaptation, approximately half of that with baseline shift adaptation, and 1-2 mm with MLC tracking and gating. With 7 mm CC margins the mean (range) of ΔD ₉₅ for the CTV was 8.1 (0.6-29.4)%-points (no intrafraction motion adaptation), 4.0 (0.4-13.3)%-points (baseline shift adaptation), 1.0 (0.3-2.2)%-points (MLC tracking) and 0.8 (0.1-1.8)%-points (gating). With 10 mm CC margins ΔD ₉₅ was instead 4.8 (0.3-14.8)%-points (no intrafraction motion adaptation) and 2.9 (0.2-9.8)%-points (baseline shift adaptation). In conclusion, baseline shift adaptation can mitigate gross dose deficits without the requirement of real-time motion adaptation. MLC tracking and gating, however, more effectively ensure high similarity between planned and delivered doses.

Optimization of training periods for the estimation model of three-dimensional target positions using an external respiratory surrogate

Background

During therapeutic beam irradiation, an unvisualized three-dimensional (3D) target position should be estimated using an external surrogate with an estimation model. Training periods for the developed model with no additional imaging during beam irradiation were optimized using clinical data.

Methods

Dual-source 4D-CBCT projection data for 20 lung cancer patients were used for validation. Each patient underwent one to three scans. The actual target positions of each scan were equally divided into two equal parts: one for the modeling and the other for the validating session. A quadratic target position estimation equation was constructed during the modeling session. Various training periods for the session—i.e., modeling periods (T_M)—were employed: T_M ∈ {5,10,15,25,35} [s]. First, the equation was used to estimate target positions in the validating session of the same scan (intra-scan estimations). Second, the equation was then used to estimate target positions in the validating session of another temporally different scan (inter-scan estimations). The baseline drift of the surrogate and target between scans was corrected. Various training periods for the baseline drift correction—i.e., correction periods (T_Cs)—were employed: T_C ∈ {5,10,15; T_C ≤ T_M} [s]. Evaluations were conducted with and without the correction. The difference between the actual and estimated target positions was evaluated by the root-mean-square error (RMSE).

Results

The range of mean respiratory period and 3D motion amplitude of the target was 2.4–13.0 s and 2.8–34.2 mm, respectively. On intra-scan estimation, the median 3D RMSE was within 1.5–2.1 mm, supported by previous studies. On inter-scan estimation, median elapsed time between scans was 10.1 min. All T_Ms exhibited 75th percentile 3D RMSEs of 5.0–6.4 mm due to baseline drift of the surrogate and the target. After the correction, those for each T_Ms fell by 1.4–2.3 mm. The median 3D RMSE for both the 10-s T_M and the T_C period was 2.4 mm, which plateaued when the two training periods exceeded 10 s.

Conclusions

A widely-applicable estimation model for the 3D target positions during beam irradiation was developed. The optimal T_M and T_C for the model were both 10 s, to allow for more than one respiratory cycle.

Trial registration

UMIN000014825. Registered: 11 August 2014.

Electronic supplementary material

The online version of this article (10.1186/s13014-018-1019-9) contains supplementary material, which is available to authorized users.

IGRT and motion management during lung SBRT delivery

Patient motion can cause misalignment of the tumour and toxicities to the healthy lung tissue during lung stereotactic body radiation therapy (SBRT). Any deviations from the reference setup can miss the target and have acute toxic effects on the patient with consequences onto its quality of life and survival outcomes. Correction for motion, either immediately prior to treatment or intra-treatment, can be realized with image-guided radiation therapy (IGRT) and motion management devices. The use of these techniques has demonstrated the feasibility of integrating complex technology with clinical linear accelerator to provide a higher standard of care for the patients and increase their quality of life.