Automated localization of the prostate at the time of treatment using implanted radiopaque markers: technical feasibility

Evaluation of deep learning based implanted fiducial markers tracking in pancreatic cancer patients

Real-time target position verification during pancreas stereotactic body radiation therapy (SBRT) is important for the detection of unplanned tumour motions. Fast and accurate fiducial marker segmentation is a Requirement of real-time marker-based verification. Deep learning (DL) segmentation techniques are ideal because they don't require additional learning imaging or prior marker information (e.g., shape, orientation). In this study, we evaluated three DL frameworks for marker tracking applied to pancreatic cancer patient data. The DL frameworks evaluated were (1) a convolutional neural network (CNN) classifier with sliding window, (2) a pretrained you-only-look-once (YOLO) version-4 architecture, and (3) a hybrid CNN-YOLO. Intrafraction kV images collected during pancreas SBRT treatments were used as training data (44 fractions, 2017 frames). All patients had 1-4 implanted fiducial markers. Each model was evaluated on unseen kV images (42 fractions, 2517 frames). The ground truth was calculated from manual segmentation and triangulation of markers in orthogonal paired kV/MV images. The sensitivity, specificity, and area under the precision-recall curve (AUC) were calculated. In addition, the mean-absolute-error (MAE), root-mean-square-error (RMSE) and standard-error-of-mean (SEM) were calculated for the centroid of the markers predicted by the models, relative to the ground truth. The sensitivity and specificity of the CNN model were 99.41% and 99.69%, respectively. The AUC was 0.9998. The average precision of the YOLO model for different values of recall was 96.49%. The MAE of the three models in the left-right, superior-inferior, and anterior-posterior directions were under 0.88 ± 0.11 mm, and the RMSE were under 1.09 ± 0.12 mm. The detection times per frame on a GPU were 48.3, 22.9, and 17.1 milliseconds for the CNN, YOLO, and CNN-YOLO, respectively. The results demonstrate submillimeter accuracy of marker position predicted by DL models compared to the ground truth. The marker detection time was fast enough to meet the requirements for real-time application.

Reducing ExacTrac intrafraction imaging uncertainty for prostate stereotactic body radiotherapy using a pre-treatment CBCT

This study evaluated the intrafractional auto-matching uncertainties of prostate-implanted fiducial markers when using the ExacTrac v6.5 (Brainlab, Feldkirchen, Germany) X-ray stereoscopic system. A customised phantom with 3 implanted gold seeds was initially positioned at the isocentre using a cone beam CT (CBCT) prior to intrafractional imaging. Progressive offsets were applied to the phantom in all six directions (3 translational, 3 rotational) of 0 mm, 1 mm, 2 mm, 0°, 1° and 2°. Subsequently, the ability of the ExacTrac image-matching functions to detect and correct these offsets was tested. For comparison, this procedure was repeated, but without a CBCT for pre-treatment positioning. The auto-matching uncertainties when a CBCT was introduced into the workflow were significantly reduced, and overall, the auto-matching statistics using the implanted marker (seeds) matching function was found to be more precise than the bony anatomy function in-phantom. The total standard deviations for the translational shifts using the implanted marker and bony anatomy functions respectively were 0.1 mm and 0.3 mm vertically, 0.1 mm and 0.3 mm longitudinally, and 0.1 mm and 0.4 mm laterally. The standard deviations for the rotational shifts using the implanted marker and bony anatomy matching functions respectively were 0.2° and 1.2° for the yaw (angle vert), 0.3° and 1.1° for the pitch (angle long), and 0.2° and 1.2° for the roll (angle lat) directions. The reduced uncertainties from introducing a CBCT for initial localisation resulted in decreased probability of inhibits due to false positives during treatment.

Quantification of fiducial marker visibility for MRI-only prostate radiotherapy simulation

To objectively compare the suitability of MRI pulse sequences and commercially available fiducial markers (FMs) for MRI-only prostate radiotherapy simulation. Most FMs appear as small signal voids in MRI images making them difficult to differentiate from tissue heterogeneities such as calcifications. In this study we use quantitative metrics to objectively evaluate the visibility of FMs in 27 patients and an anthropomorphic phantom with a variety of standard clinical MRI pulse sequences and commercially available FMs. FM visibility was quantified using the local contrast-to-noise-ratio (lCNR), the difference between the 80th and 20th percentile iso-intensity FM volumes (V _fall) and the largest iso-intensity volume that can be distinguished from background: apparent-marker-volume (AMV). A larger lCNR and AMV, and smaller V _fall represents a more easily identifiable FM. The number of non-marker objects visualized by each pulse sequence was calculated using FM-derived template-matching. The FM-based target-registration-error (TRE) between each MRI and the planning-CT image was calculated. Fiducial marker visibility was rated by two medical physicists with over three years of experience examining MRI-only prostate simulation images. The rater's classification accuracy was quantified using the F ₁ score, which is the harmonic mean of the rater's precision and recall. These quantitative metrics and human observer ratings were used to evaluate FM identifiability in images from nine subtypes of T ₁-weighted, T ₂-weighted and gradient echo (GRE) pulse sequences in a 27-patient study. A phantom study was conducted to quantify the visibility of 8 commercially available FMs. In the patient study, the largest mean lCNR and AMV and, smallest normalized V _fall were produced by the 3.0 T multiple-echo GRE pulse sequence (T ₁-VIBE, 2° flip angle, 1.23 ms and 2.45 ms echo-times). This pulse sequence produced no false marker detections and TREs less than 2 mm in the left-right, anterior-posterior and cranial-caudal directions, respectively. Human observers rated the 1.23 ms echo-time GRE images with the best average marker visibility score of 100% and an F ₁ score of 1. In the phantom study, the Gold-Anchor GA-200X-20-B (deployed in a folded configuration) produced the largest sequence averaged lCNR and AMV measurements at 16.1 and 16.7 mm³, respectively. Using quantitative visibility and distinguishability metrics and human observer ratings, the patient study demonstrated that multiple-echo GRE images produced the best gold FM visibility and distinguishability. The phantom study demonstrated that markers manufactured from platinum or iron-doped gold quantitatively produced superior visibility compared to their pure gold counterparts.

A novel radiopaque tissue marker for soft tissue localization and in vivo length and area measurements

PURPOSE

The purpose of the study was to describe the characteristics and demonstrate proof-of-concept and clinical use of a barium sulfate infused polypropylene radiopaque tissue marker for soft tissue localization and in vivo measurement of lengths and areas.

METHODS

Marker mechanical properties were evaluated by tensile tests. Biocompatibility was evaluated following 8-12 weeks' implantation in a pig model. Proof-of-concept of marker application was performed in a human cadaveric shoulder model, and methods for CT imaging and measurement of dimensions were established. Lastly, the method of clinical use of the markers was described in one patient undergoing arthroscopic rotator cuff repair (RCR).

RESULTS

The radiopaque markers had a tensile strength of 28 ±4.7 N and were associated with minimal to mild inflammatory tissue reaction similar to polypropylene control. CT-based measurements showed relatively high precisions for lengths (0.66 mm), areas (6.97 mm2), and humeral orientation angles (2.1°) in the cadaveric model, and demonstrated 19 ±3 mm medio-lateral tendon retraction and 227 ±3 mm2 increase in tendon area in the patient during 26 weeks following RCR. No radiographic leaching, calcification or local adverse events were observed.

CONCLUSIONS

The radiopaque tissue marker was biocompatible and had adequate strength for handling and affixation to soft tissues using standard suturing techniques. The marker could be used with low-dose, sequential CT imaging to quantitatively measure rotator cuff tendon retractions with clinically acceptable accuracy. We envision the radiopaque tissue marker to be useful for soft tissue localization and in vivo measurement of tissue and organ dimensions following surgery.

The impact of the three degrees-of-freedom fiducial marker-based setup compared to soft tissue-based setup in hypofractionated intensity-modulated radiotherapy for prostate cancer

Purpose

We evaluated the setup accuracy of a three‐degree‐of‐freedom fiducial marker (3DOF‐FM)‐based setup compared to a soft tissue (ST)‐based setup in hypofractionated intensity‐modulated radiotherapy (IMRT) for prostate cancer.

Materials and Methods

We analyzed the setup accuracy for 17 consecutive prostate cancer patients with three implanted FMs who underwent hypofractionated IMRT. The 3DOF‐ST‐based setup using cone‐beam computed tomography (CT) was performed after a six DOF‐bony structure (BS)‐based setup using an ExacTrac x‐ray system. The 3DOF‐FM‐based matching using the ExacTrac x‐ray system was done during the BS‐ and ST‐based setups. We determined the mean absolute differences and the correlation between the FM‐ and ST‐based translational shifts relative to the BS‐based setup position. The rotational mean shifts detected by the ExacTrac x‐ray system were also evaluated.

Results

The mean differences in the anterior‐posterior (AP), superior‐inferior (SI), and left‐right (LR) dimensions were 0.69, 0.0, and 0.30 mm, respectively. The Pearson correlation coefficients for both shifts were 0.92 for AP, 0.91 for SI, and 0.68 for LR. The percentages of shift agreements within 2 mm were 85% for AP, 93% for SI, and 99% for LR. The absolute values of rotational shifts were 0.1° for AP, 0.3°, and 1.2° for LR.

Conclusions

The setup accuracy of the 3DOF‐FM‐based setup has the potential to be interchangeable with a ST‐based setup. Our data are likely to be useful in clinical practice along with the popularization of the hypofractionated IMRT in prostate cancer.

Complementary Relation Between the Improvement of Dose Delivery Technique and PTV Margin Reduction in Dose-Escalated Radiation Therapy for Prostate Cancer

PURPOSE

The purpose of this study is to demonstrate quantitatively the complementary relationship between the introduction of intensity modulated radiation therapy (IMRT) and planning target volume (PTV) margin reduction with an image guided technique in reducing the risk of rectal toxicity in dose-escalating prostate radiation therapy.

METHODS AND MATERIALS

Three-dimensional conformal radiation therapy (CRT) and IMRT plans were generated for 10 patients with prostate cancer based on 2 PTV margin protocols (10/8 mm and 6/5 mm) and 2 dose prescriptions (70 Gy and 78 Gy). The normal tissue complication probability (NTCP) for each of the 8 scenarios was calculated using the Lyman-Kutcher-Burman model to estimate the risk of rectal and bladder late toxicity. The conformity and homogeneity indices of PTVs were calculated for each plan.

RESULTS

The IMRT plans showed superiority in conformity and inferiority in homogeneity over 3-dimensional CRT plans. The rectal NTCPs were increased 3.5 to 4.1 times when the prescribed total dose was changed from 70 Gy to 78 Gy and the dose delivery and the image guided radiation therapy techniques remained unchanged. PTV margin reduction was shown to reduce the value of rectal NTCP significantly. Overall, implementing the IMRT technique alone could reduce the NTCP values only by 2.1% to 7.3% from those of 3-dimensional CRT. The introduction of both IMRT and PTV margin reduction was found to be necessary for rectal NTCP to remain <5% in the dose escalation from 70 to 78 Gy.

CONCLUSIONS

The complementary relationship between the introduction of IMRT and PTV margin reduction was proven. We found that both approaches need to be implemented to safely deliver a curative dose in dose-escalating prostate radiation therapy.

Evaluation of gold fiducial marker manual localisation for magnetic resonance-only prostate radiotherapy

BACKGROUND

The use of intraprostatic gold fiducial markers (FMs) ensures highly accurate and precise image-guided radiation therapy for patients diagnosed with prostate cancer thanks to the ease of localising FMs on photon-based imaging, like Computed Tomography (CT) images. Recently, Magnetic Resonance (MR)-only radiotherapy has been proposed to simplify the workflow and reduce possible systematic uncertainties. A critical, determining factor in the accuracy of such an MR-only simulation will be accurate FM localisation using solely MR images.

PURPOSE

The aim of this study is to evaluate the performances of manual MR-based FM localisation within a clinical environment.

METHODS

We designed a study in which 5 clinically involved radiation therapy technicians (RTTs) independently localised the gold FMs implanted in 16 prostate cancer patients in two scenarios: employing a single MR sequence or a combination of sequences. Inter-observer precision and accuracy were assessed for the two scenarios for localisation in terms of 95% limit of agreement on single FMs (LoA)/ centre of mass (LoA _CM) and inter-marker distances (IDs), respectively.

RESULTS

The number of precisely located FMs (LoA <2 mm) increased from 38/48 to 45/48 FMs when localisation was performed using multiple sequences instead of single one. When performing localisation on multiple sequences, imprecise localisation of the FMs (3/48 FMs) occurred for 1/3 implanted FMs in three different patients. In terms of precision, we obtained LoA _CM within 0.25 mm in all directions over the precisely located FMs. In terms of accuracy, IDs difference of manual MR-based localisation versus CT-based localisation was on average (±1 STD) 0.6 ±0.6 mm.

CONCLUSIONS

For both the investigated scenarios, the results indicate that when FM classification was correct, the precision and accuracy are high and comparable to CT-based FM localisation. We found that use of multiple sequences led to better localisation performances compared with the use of single sequence. However, we observed that, due to the presence of calcification and motion, the risk of mislocated patient positioning is still too high to allow the sole use of manual FM localisation. Finally, strategies to possibly overcome the current challenges were proposed.

Pelvic bone anatomy vs implanted gold seed marker registration for image-guided intensity modulated radiotherapy for prostate carcinoma: Comparative analysis of inter-fraction motion and toxicities

OBJECTIVES

We compared the prostate motion variability and toxicities between patients treated with gold marker registration based IG-IMRT (IG-IMRT-M) and bony landmark registration based IG-IMRT (IG-IMRT-B).

METHODS

T1c-T3b (node negative), intermediate and high risk (non-metastatic) adenocarcinoma of prostate, age ≥18years, Karnofsky Performance Status of ≥70 were included in this retrospective study. The prostate motion variability, acute and late radiation toxicities between the two treatment arms (IG-IMRT-M versus IG-IMRT-B) were compared.

RESULTS

Total of 35 patients (17 for IG-IMRT-M and 18 for IG-IMRT-B) were treated with a median radiotherapy dose of 76 Gray. The prostate variability observed with and without markers in millimeter was 4.1±2.3 vs 3.7±2.1 [Antero-Posterior (A-P); p=0.001], 2.3±1.5 vs 2.1±1.2 [Superior-Inferior (S-I); p=0.095] and 1.1±1.7 vs 0.4±1.4 [Left-Right (L-R); p=0.003]. There was higher acute toxicity in IG-IMRT-B arm compared to IG-IMRT-M arm in terms of grade ≥2 diarrhea [50% vs 11% OR=7.5 (1.3-42.7); p=0.02] and grade ≥2 proctitis [38% vs 5.8%, OR=10.1 (1.09-94.1); p=0.04]. At a median follow up of 36months, the late genitourinary toxicities grade ≥2 [27% vs 0%; p=0.04] were higher in the IG-IMRT-B arm compared to IG-IMRT-M arm.

CONCLUSIONS

IG-IMRT-M detects higher prostate motion variability as compared to IG-IMRT-B, inferring a significant prostate motion inside fixed pelvic bony cavity. The addition of marker based image guidance results in higher precision of prostate localization and lesser acute and late toxicities.

Automated target tracking in kilovoltage images using dynamic templates of fiducial marker clusters

PURPOSE

Implanted fiducial markers are often used in radiotherapy to facilitate accurate visualization and localization of tumors. Typically, such markers are used to aid daily patient positioning and to verify the target's position during treatment. These markers can also provide a wealth of information regarding tumor motion, yet determining their accurate position in thousands of images is often prohibitive. This work introduces a novel, automated method for identifying fiducial markers in planar x-ray imaging.

METHODS

In brief, the method was performed as follows. First, using processed CBCT projection images, an automated routine of reconstruction, forward-projection, tracking, and stabilization generated static templates of the marker cluster at arbitrary viewing angles. Breathing data were then incorporated into the same routine, resulting in dynamic templates dependent on both viewing angle and breathing motion. Finally, marker clusters were tracked using normalized cross correlations between templates (either static or dynamic) and CBCT projection images. To quantify the accuracy of the technique, a phantom study was performed and markers were manually tracked by two users to compare the automated technique against human measurements. Then, 75 pretreatment CBCT scans of 15 pancreatic cancer patients were analyzed to test the automated technique under real-life conditions, including several challenging scenarios for tracking fiducial markers (e.g., extraneous metallic objects, field-of-view limitations, and marker migration).

RESULTS

In phantom and patient studies, for both static and dynamic templates, the method automatically tracked visible marker clusters in 100% of projection images. For scans in which a phantom exhibited 0D, 1D, and 3D motion, the automated technique showed median errors of 39 μm, 53 μm, and 93 μm, respectively. Human precision was worse in comparison; median interobserver differences for single markers and for the averaged coordinates of four markers were 183 μm and 120 μm, respectively. In patient scans, the method was robust against a number of confounding factors. Automated tracking was performed accurately despite the presence of radio-opaque, nonmarker objects (e.g., metallic stents, surgical clips) in five patients. This success was attributed to the distinct appearance of clusters as a whole compared to individual markers. Dynamic templates produced higher cross-correlation scores than static templates in patients whose fiducial marker clusters exhibited considerable deformation or rotation during the breathing cycle. For other patients, no significant difference was seen between dynamic and static templates. Additionally, transient differences in the cross-correlation score identified instances where markers disappeared from view.

CONCLUSIONS

A novel, automated method for producing dynamic templates of fiducial marker clusters has been developed. Production of these templates automatically provides measurements of tumor motion that occurred during the CBCT scan that was used to produce them. Additionally, using these templates with intrafractional images could potentially allow for more robust real-time target tracking in radiotherapy.

Ultra-efficient, widely tunable gold nanoparticle-based fiducial markers for X-ray imaging

We show the development of a new class of highly efficient, biocompatible fiducial markers for X-ray imaging and radiosurgery, based on polymer shells encapsulating engineered gold nanoparticle (AuNP) suspensions. Our smart fabrication strategy enables wide tunability of the fiducial size, shape, and X-ray attenuation performance, up to record values >20 000 Hounsfield units (HU), i.e. comparable to or even higher than bulk gold. We show that the NP fiducials allow for superior imaging both in vitro and in vivo (yet requiring 2 orders of magnitude less material), with strong stability over time and the absence of classical "streak artifacts" of standard bulk fiducials. NP fiducials were probed in vivo, showing exceptional contrast efficiency, even after 2 weeks post-implant in mice.

Radiotherapy couches: is kevlar an obstacle? Attenuation study of three different tabletops

Introduction

Treatment tabletops are usually made of carbon fibre due to its high mechanical strength and rigidity, low specific density, extremely light and regularly considered radiotranslucent. Our clinic acquired a Calypso 4D Localization System where electromagnetic (EM) frequencies to detect implanted transponders in the patient are used. Carbon fibre is an electrical conductive material which interferes with EM frequencies. Therefore, in order to be able to use the Calypso System the carbon fibre tabletop in the treatment room must be replaced. It is our goal to determine the attenuation of the new, non-carbon fibre, tabletop in treatment delivery.

Materials and Methods

Measurements were performed using an ionisation chamber inserted in a slab phantom positioned at the isocenter for 6, 10 MV, 6 and 10 flattening filter free (FFF) MV photon beams. These measurements were performed with and without tabletop for 0°, 30° and 60° beam angle for a True Beam STx linac, for 5×5 cm2 and 10×10 cm2 field size beams. The attenuation was calculated for each measurement for each tabletop.

Results

At 0° incidence on the Exact IGRT Couch, the measured attenuation for 10×10 cm2 was 2·8 and 2·1% for 6 and 10 MV beams, respectively. For the same field size was measured 3·3 and 2·6% attenuation for 6 and 10 FFF MV beams, respectively. At the same incidence and regarding the other tabletops, the calculated attenuation is lower. For 10×10 cm2 field, there is 2·0, 1·4, 2·1 and 2·6% attenuation for 6, 10 MV, 6 and 10 FFF MV energy beams on the kVueTM Universal Couch. For the KvueTM Calypso® Couch 10×10 cm2 irradiation field, the measurements were 1·6, 1·3, 1·9 and 1·5%, respectively. This tendency is observed for all gantry angles.

Discussion

The attenuation outputs were definitely higher for the Varian Exact IGRT Couch when compared with the kVue tabletops. The attenuation measurements for the kVue tabletops were closer to each other. Nevertheless kVueTM Calypso® Varian tabletop showed smaller mean attenuation of the beams than kVueTM Universal Tip Insert for all measurements.

Conclusions

There was no loss in treatment quality administration due to beam attenuation in the tabletop when tabletops were exchanged because of Calypso system integration. There is no need to change between kVue tabletops whenever there is a regular treatment or a Calypso System guided treatment.

Impact on Late Toxicity of using Transabdominal Ultrasound for Prostate Cancer Patients Treated with Intensity Modulated Radiotherapy

An analysis of the effects of using the B-mode ultrasound Acquisition and Targeting (BAT) system for positioning of prostate cancer patients receiving external beam radiotherapy (EBRT) on late gastrointestinal (GI) and genitourinary (GU) toxicity is provided. The records of 49 consecutive patients treated using the BAT were reviewed; additionally, a comparison (No-BAT) group treated in a similar manner was identified, consisting of 49 patients treated immediately prior to this BAT group. There were no other fundamental differences between the two groups. The daily BAT movements were charted and late toxicity was scored for all patients using established toxicity scales. The results demonstrated similar GU toxicity rates between the two groups, but slightly lower rates of GI toxicity in the BAT group vs. the No-BAT group. However, regression analyses revealed that no factors, including BAT use, were significantly correlated with late GI or GU toxicity. Further efforts, perhaps better undertaken in a multi-institutional setting, are needed to determine whether BAT use can significantly reduce late GI toxicity.

Superiority of a soft tissue-based setup using cone-beam computed tomography over a bony structure-based setup in intensity-modulated radiotherapy for prostate cancer

The purpose of this study was to test the superiority of a soft tissue‐based setup using cone‐beam computed tomography (CBCT) to a bony structure‐based setup using the ExacTrac system in intensity‐modulated radiotherapy (IMRT) for prostate cancer. We studied 20 patients with localized prostate cancer who received IMRT between November 2010 and February 2012. After the initial setup, the pelvic bony structure‐based setup and ExacTrac system were applied. After that, CBCT and a soft tissue‐based setup were used. A shift in the isocenter between the ExacTrac‐based and CBCT‐based setup was recorded in the anterior–posterior (AP), superior–inferior (SI), and left–right (LR) axes. The shift was considered an interfractional prostate shift. Post‐treatment CBCT was also taken once a week to measure the intrafractional prostate shift, based on the coordinates of the isocenter between pre‐ and post‐treatment CBCT. The planning target volume (PTV) margins were determined using van Herk's method. We measured the elapsed time required for soft tissue matching and the entire treatment time using CBCT. The means±standard deviation(SD) of the inter‐ and intrafractional shifts were 0.9±2.8 mm and −0.3±1.4 mm in the AP, 0.9±2.2 mm and −0.1±1.2 mm in the SI, and 0.1±0.7 mm and −0.1±0.7 mm in the LR directions. The PTV margins in the cases of bony structure‐based and soft tissue‐based setups were 7.3 mm and 2.7 mm in the AP, 5.8 mm and 2.3 mm in the SI, and 1.9 mm and 1.2 mm in the LR directions. Even though the median elapsed time using CBCT was expanded in 5.9 min, the PTV margins were significantly reduced. We found the calculated PTV margins in the soft tissue‐based setup using CBCT were small, and this arrangement was superior to the bony structure‐based setup in prostate IMRT.

PACS numbers: 87.19.ru, 87.55.T‐

Novel Use of Endoscopic Clips as Fiducials for Radiotherapy in Small Bowel Lymphoma

A 31-year-old woman was diagnosed with duodenal grade 1 follicular lymphoma. The patient underwent radiotherapy and on surveillance enteroscopy, the lymphoma was persistently identified in the duodenum and jejunum. Endoscopic clips were used as fiducials to better localize the tumor during radiotherapy. Endoscopic clips are increasingly used as tumor localization tools because of their favorable risk-benefit ratio. In our case, endoscopic clipping was necessary to properly localize the tumor after prior treatment failure, and the patient now has no evidence of disease. Larger studies are needed to demonstrate the efficacy of clips in tumor localization and improved disease-related morbidity.

Pelvic nodal dosing with registration to the prostate: implications for high-risk prostate cancer patients receiving stereotactic body radiation therapy

PURPOSE

To determine whether image guidance with rigid registration (RR) to intraprostatic markers (IPMs) yields acceptable coverage of the pelvic lymph nodes in the context of a stereotactic body radiation therapy (SBRT) regimen.

METHODS AND MATERIALS

Four to seven kilovoltage cone-beam CTs (CBCTs) from 12 patients with high-risk prostate cancer were analyzed, allowing approximation of an SBRT regimen. The nodal clinical target volume (CTV(N)) and bladder were contoured on all kilovoltage CBCTs. The V100 CTV(N), expressed as a ratio to the same parameter on the initial plan, and the magnitude of translational shift between RR to the IPMs versus RR to the pelvic bones, were computed. The ability of a multimodality bladder filling protocol to minimize bladder height variation was assessed in a separate cohort of 4 patients.

RESULTS

Sixty-five CBCTs were assessed. The average V100 CTV(N) was 92.6%, but for a subset of 3 patients the average was 80.0%, compared with 97.8% for the others (P<.0001). The average overall and superior-inferior axis magnitudes of the bony-to-fiducial translations were significantly larger in the subgroup with suboptimal nodal coverage (8.1 vs 3.9 mm and 5.8 vs 2.4 mm, respectively; P<.0001). Relative bladder height changes were also significantly larger in the subgroup with suboptimal nodal coverage (42.9% vs 18.5%; P<.05). Use of a multimodality bladder-filling protocol minimized bladder height variation (P<.001).

CONCLUSION

A majority of patients had acceptable nodal coverage after RR to IPMs, even when approximating SBRT. However, a subset of patients had suboptimal nodal coverage. These patients had large bony-to-fiducial translations and large variations in bladder height. Nodal coverage should be excellent if the superior-inferior axis bony-to-fiducial translation and the relative bladder height change (both easily measured on CBCT) are kept to a minimum. Implementation of a strict bladder filling protocol may achieve this goal.

Development of CBCT-based prostate setup correction strategies and impact of rectal distension

Background

Cone-beam computed tomography (CBCT) image-guided radiotherapy (IGRT) systems are widely used tools to verify and correct the target position before each fraction, allowing to maximize treatment accuracy and precision. In this study, we evaluate automatic three-dimensional intensity-based rigid registration (RR) methods for prostate setup correction using CBCT scans and study the impact of rectal distension on registration quality.

Methods

We retrospectively analyzed 115 CBCT scans of 10 prostate patients. CT-to-CBCT registration was performed using (a) global RR, (b) bony RR, or (c) bony RR refined by a local prostate RR using the CT clinical target volume (CTV) expanded with 1-to-20-mm varying margins. After propagation of the manual CT contours, automatic CBCT contours were generated. For evaluation, a radiation oncologist manually delineated the CTV on the CBCT scans. The propagated and manual CBCT contours were compared using the Dice similarity and a measure based on the bidirectional local distance (BLD). We also conducted a blind visual assessment of the quality of the propagated segmentations. Moreover, we automatically quantified rectal distension between the CT and CBCT scans without using the manual CBCT contours and we investigated its correlation with the registration failures. To improve the registration quality, the air in the rectum was replaced with soft tissue using a filter. The results with and without filtering were compared.

Results

The statistical analysis of the Dice coefficients and the BLD values resulted in highly significant differences (p<10⁻⁶) for the 5-mm and 8-mm local RRs vs the global, bony and 1-mm local RRs. The 8-mm local RR provided the best compromise between accuracy and robustness (Dice median of 0.814 and 97% of success with filtering the air in the rectum). We observed that all failures were due to high rectal distension. Moreover, the visual assessment confirmed the superiority of the 8-mm local RR over the bony RR.

Conclusion

The most successful CT-to-CBCT RR method proved to be the 8-mm local RR. We have shown the correlation between its registration failures and rectal distension. Furthermore, we have provided a simple (easily applicable in routine) and automatic method to quantify rectal distension and to predict registration failure using only the manual CT contours.

Image-guided radiation therapy for prostate cancer: A computed tomography-based assessment of fiducial marker migration between placement and 7 days

PURPOSE

This study was conducted to determine whether clinically significant fiducial marker migration occurs immediately after prostatic implantation.

METHODS AND MATERIALS

One hundred patients with transperineal (n = 39) or transrectal (n = 61) placement of 3 gold fiducial markers underwent computed tomography scans on day 0 (after placement) and day 7 (at radiation planning). Each marker was marked as a point of interest in a treatment planning system. An automated point-based algorithm was then used to coregister the day 0 and day 7 images by matching the markers through rigid translations and rotations. The mean distance between fiducial pairs (d¯) was recorded to assess the degree of seed migration. Prostate contours were delineated, and the day 0 prostate volumes were uniformly expanded by 1, 3, and 5 mm. The percentage of the day 7 prostate volume covered by each day 0 prostate with expansion was calculated to assess whether prostate contours, if performed on day 0, would adequately cover the prostate on day 7.

RESULTS

The average d¯ for all patients was 0.78 ± 0.45 mm; only 1 patient had d¯ > 2 mm. Placement technique, hormonal therapy, prostate size, and marker distance from the capsule were not associated with d¯ (P > .05). The mean percentages of day 7 prostate volumes covered by the day 0 prostate plus 1, 3, and 5 mm were 98.3%, 99.8%, and 100%, respectively. With an expansion of 3 mm, 98% of men had >95% of day 0 volume covered; with an expansion of 5 mm, 100% of men had 100% of the day 0 volume covered.

CONCLUSIONS

There is minimal change in the relative positions of fiducial markers (average d¯ < 1.0 mm) 1 week after placement. A 1- to 3-mm expansion would account for the variation in seed position for the vast majority of cases. These results suggest that planning could be performed on the day of implantation without adverse consequence.

Reconstruction of the treatment area by use of sinogram in helical tomotherapy

BACKGROUND

TomoTherapy (Accuray, USA) has an image-guided radiotherapy system with a megavoltage (MV) X-ray source and an on-board imaging device. This system allows one to acquire the delivery sinogram during the actual treatment, which partly includes information from the irradiated object. In this study, we try to develop image reconstruction during treatment with helical tomotherapy.

FINDINGS

Sinogram data were acquired during helical tomotherapy delivery using an arc-shaped detector array that consists of 576 xenon-gas filled detector cells. In preprocessing, these were normalized with full air-scan data. A software program was developed that reconstructs 3D images during treatment with corrections as; (1) the regions outside the field were masked not to be added in the backprojection (a masking correction), and (2) each voxel of the reconstructed image was divided by the number of the beamlets passing through its voxel (a ray-passing correction). The masking correction produced a reconstructed image, however, it contained streak artifacts. The ray-passing correction reduced this artifact. Although the SNR (the ratio of mean to standard deviation in a homogeneous region) and the contrast of the reconstructed image were slightly improved with the ray-passing correction, use of only the masking correction was sufficient for the visualization purpose.

CONCLUSIONS

The visualization of the treatment area was feasible by using the sinogram in helical tomotherapy. This proposed method would be useful in the treatment verification.

Injectable colloidal gold in a sucrose acetate isobutyrate gelating matrix with potential use in radiation therapy

External beam radiation therapy relies on the ability to deliver high radiation doses to tumor cells with minimal exposure to surrounding healthy tissue. Advanced irradiation techniques, including image-guided radiation therapy (IGRT), rely on the ability to locate tumors to optimize the therapeutic benefit of these techniques. Today, radiopaque fiducial tissue markers are placed in or around tumors, for example, in prostate cancer patients to enhance the precision of daily and/or real-time IGRT. A liquid injectable fiducial marker (nanogel) is developed based on PEGylated gold nanoparticles and sucrose acetate isobutyrate (SAIB) with improved properties compared to current solid fiducial markers. The developed nanogel is investigated in vitro and subsequently evaluated in vivo in immunocompetent NMRI mice. The nanogel shows high CT-contrast and excellent stability in vivo over a period of 12 weeks. The nanogel is found to be biocompatible and well tolerated. No induction of the inflammatory cytokines INF-γ, IL-6, or TNF-α is observed throughout the study period. The developed nanogel seems to be a safe injectable fiducial marker ideally suited for IGRT that may further enhance the effect of radiation.

Calypso® 4D Localization System: a review

Purpose

Calypso® 4D Localization System is a system based on electromagnetic transponders detection enabling precise 3D localisation and continuous tracking of tumour target. This review intended to provide information in order to (1) show how Calypso® 4D Localization System works, (2) to present advantages and disadvantages of this system, (3) to gather information from several clinical studies and, finally, (4) to refer Calypso® System as a tool in dynamic multileaf collimator studies for target motion compensation.

Methods

A structured search was carried out on B-On platform. The key words used in this research were ‘Calypso’, ‘Transponder’, ‘Electromagnetic Localization’, ‘Electromagnetic Tracking’, ‘Target Localization’, ‘Intrafraction Motion’ and ‘DMLC’.

Review

Treatment the implanted transponders are excited by an electromagnetic field and resonate back. These frequencies are detected and Calypso® software calculates the position of the transponders. If the movement detected is larger than the limits previously defined, irradiation can be stopped. The system has been proven to be submillimetre accurate.

Discussion

Calypso® System has been presented as an accurate tool in prostate radiotherapy treatments. The application of this system to other clinical sites is being developed.

Conclusion

The Calypso® System allows real-time localisation and monitoring of the target, without additional ionising radiation administration. It has been a very useful tool in prostate cancer treatment.

Change in prostate volume during extreme hypo-fractionation analysed with MRI

BACKGROUND

Hypo-fractionated external beam radiotherapy with narrow CTV-PTV margins is increasingly applied for prostate cancer. This demands a precise target definition and knowledge on target location and extension during treatment. It is unclear how increase in fraction size affects changes in prostate volume during treatment. Our aim was to study prostate volume changes during extreme hypo-fractionation (7 × 6.1 Gy) by using sequential MRIs.

METHODS

Twenty patients treated with extreme hypo-fractionation were recruited from an on-going prospective randomized phase III trial. An MRI scan was done before start of treatment, at mid treatment and at the end of radiotherapy. The prostate was delineated at each MRI and the volume and maximum extension in left-right, anterior-posterior and cranial-caudal directions were measured.

RESULTS

There was a significant increase in mean prostate volume (14%) at mid treatment as compared to baseline. The prostate volume remained enlarged (9%) at the end of radiotherapy. Prostate swelling was most pronounced in the anterior-posterior and cranial-caudal directions.

CONCLUSIONS

Extreme hypo-fractionation induced a significant prostate swelling during treatment that was still present at the time of last treatment fraction. Our results indicate that prostate swelling is an important factor to take into account when applying treatment margins during short extreme hypo-fractionation, and that tight margins should be applied with caution.

Future directions from past experience: a century of prostate radiotherapy

Prostate cancer is the most commonly diagnosed noncutaneous malignancy in men, yet 100 years ago it was considered a rare disease. Over the past century, radiation therapy has evolved from a radium source placed in the urethra to today's advanced proton therapy delivered by only a few specialized centers. As techniques in radiation have evolved, the treatment of localized prostate cancer has become one of the most debated topics in oncology. Today, patients with prostate cancer must often make a difficult decision between multiple treatment modalities, each with the risk of permanent sequelae, without robust randomized data to compare every treatment option. Meanwhile, opinions of urologists and radiation oncologists about the risks and benefits involved with each modality vary widely. Further complicating the issue is rapidly advancing technology which often outpaces clinical data. This article represents a complete description of the evolution of prostate cancer radiation therapy with the goal of illuminating the historical basis for current challenges facing oncologists and their patients.

Real-time automatic fiducial marker tracking in low contrast cine-MV images

PURPOSE

To develop a real-time automatic method for tracking implanted radiographic markers in low-contrast cine-MV patient images used in image-guided radiation therapy (IGRT).

METHODS

Intrafraction motion tracking using radiotherapy beam-line MV images have gained some attention recently in IGRT because no additional imaging dose is introduced. However, MV images have much lower contrast than kV images, therefore a robust and automatic algorithm for marker detection in MV images is a prerequisite. Previous marker detection methods are all based on template matching or its derivatives. Template matching needs to match object shape that changes significantly for different implantation and projection angle. While these methods require a large number of templates to cover various situations, they are often forced to use a smaller number of templates to reduce the computation load because their methods all require exhaustive search in the region of interest. The authors solve this problem by synergetic use of modern but well-tested computer vision and artificial intelligence techniques; specifically the authors detect implanted markers utilizing discriminant analysis for initialization and use mean-shift feature space analysis for sequential tracking. This novel approach avoids exhaustive search by exploiting the temporal correlation between consecutive frames and makes it possible to perform more sophisticated detection at the beginning to improve the accuracy, followed by ultrafast sequential tracking after the initialization. The method was evaluated and validated using 1149 cine-MV images from two prostate IGRT patients and compared with manual marker detection results from six researchers. The average of the manual detection results is considered as the ground truth for comparisons.

RESULTS

The average root-mean-square errors of our real-time automatic tracking method from the ground truth are 1.9 and 2.1 pixels for the two patients (0.26 mm/pixel). The standard deviations of the results from the 6 researchers are 2.3 and 2.6 pixels. The proposed framework takes about 128 ms to detect four markers in the first MV images and about 23 ms to track these markers in each of the subsequent images.

CONCLUSIONS

The unified framework for tracking of multiple markers presented here can achieve marker detection accuracy similar to manual detection even in low-contrast cine-MV images. It can cope with shape deformations of fiducial markers at different gantry angles. The fast processing speed reduces the image processing portion of the system latency, therefore can improve the performance of real-time motion compensation.

Impact of rectal balloon-filling materials on the dosimetry of prostate and organs at risk in photon beam therapy

The use of rectal balloon in radiotherapy of prostate cancer is shown to be effective in reducing prostate motion and minimizing rectal volume, thus reducing rectal toxicity. Air‐filled rectal balloon has been used most commonly, but creates dose perturbation at the air‐tissue interface. In this study, we evaluate the effects of rectal balloon‐filling materials on the dose distribution to the target and organs at risk. The dosimetric impact of rectal balloon filling was studied in detail for a typical prostate patient, and the general effect of the balloon filling was investigated from a study of ten prostate patients covering a wide range of anterior–posterior and left–right separations, as well as rectal and bladder volumes. Hounsfield units (HU) of the rectal balloon filling was changed from −1000 HU to 1000 HU at an interval of 250 HU, and the corresponding changes in the relative electron density (RED) was calculated. For each of the HU of the rectal balloon filling, a seven‐field IMRT plan was generated with 6 MV and 15 MV photon beams, respectively. Dosimetric evaluation was performed with the AAA algorithm for inhomogeneity corrections. A detailed study of the rectal balloon filling shows that the GTV, PTV, rectal, and bladder mean dose decreased with increasing values of RED in the rectal balloon. There is significant underdosage in the target volume at the rectum–prostate interface with an air‐filled balloon as compared to that with a water‐filled balloon for both 6 MV and 15 MV beams. While the dosimetric effect of the rectal balloon filling is reduced when averaged over ten patients, generally an air‐filled balloon results in lower minimum dose and lower mean dose in the overlap region (and possibly the PTV) compared to those produced by water‐filled or contrast‐filled balloons. Dose inhomogeneity in the target volume is increased with an air‐filled rectal balloon. Thus a water‐filled or contrast‐filled rectal balloon is preferred to an air‐filled rectal balloon in EBRT of prostate treatment.

PACS numbers: 87.55.D‐, 87.55.de, 87.55.dk, 87.55.Gh, 87.55.kd

A "rolling average" multiple adaptive planning method to compensate for target volume changes in image-guided radiotherapy of prostate cancer

For prostate cancer radiotherapy, the interfractional organ motion can have several forms: changes in position, shape, and volume. The interfractional motion can be managed through either online or offline image guidance (IG). The position changes are commonly corrected through online IG by correcting couch position at each treatment fraction, while the shape and volume changes, or target deformation, can be compensated by margins in offline adaptive planning. In this study, we proposed and evaluated a rolling‐average (RA) adaptive replanning method to account for the target volume variations. A total of 448 repeated helical computed tomography (HCT) scans from 28 patients were included in the study. Both low‐risk patients (LRP, CTV=prostate) and intermediate‐risk patients (IRP, CTV=prostate + seminal vesicles) were simulated. The benefit of RA strategy was evaluated geometrically and compared with the standard online IG‐only method and a single replanning adaptive hybrid strategy. A new geometric index, cumulative index of target volume (CITV), was used for the evaluation. Two extreme scenarios of target volume changes, Type Ascending and Descending, were simulated by sorting the CTV volumes of actual patient data in order to have a better evaluation of the methods. Modest target volume variations were observed in our patient group. The prostate volume change was −0.14±0.11 cc/day (or −0.30%±0.26% per day). It is found that RA is superior to the online IG and hybrid techniques. However, the magnitude of improvement depends on how significantly and rapidly the target volume changes. On the issue of planning complexity, the hybrid is more complex than online IG only, requiring one offline replanning, and RA is significantly more complex, with multiple replanning. In clinical implementation of RA, the effectiveness and efficiency should be balanced. The effectiveness is dependent on the patient population. For low‐risk patients, RA is beneficial if there is significant time trend in target volume during the treatment course of radiotherapy. The optimal number of fractions necessary for the internal target volume (ITV) construction is 2 for LRP and 3 for IRP for RA strategy.

PACS numbers: 87.55.D‐; 87.55.de

ACR Appropriateness Criteria® definitive external beam irradiation in stage T1 and T2 prostate cancer

PURPOSE

: External beam radiation therapy is a standard of care treatment for men who present with clinically localized (T1-T2) prostate cancer. The purpose of this review was to provide clarification on the appropriateness criteria and management considerations for the treatment of prostate cancer with external beam radiation therapy.

METHODS

: A panel consisting of physicians with expertise on prostate cancer was assembled and provided with a number of clinical scenarios for consensus treatment and management guidelines. Prostate cancer patient vignettes were presented along with specific management recommendations based on an extensive review of the modern external beam radiotherapy literature. The American College of Radiology Appropriateness Criteria are evidence-based guidelines for specific clinical conditions that are reviewed every 2 years by a multidisciplinary expert panel. The guideline development and review include an extensive analysis of current medical literature from peer reviewed journals and the application of a well established consensus methodology (modified Delphi) to rate the appropriateness of imaging and treatment procedures by the panel. In those instances, where evidence is lacking or not definitive, expert opinion may be used to recommend imaging or treatment.

RESULTS

: Modern external beam radiation therapy series demonstrate favorable biochemical control rates for patients with localized prostate cancer. Morbidity profiles are also favorable and it is clear that this is enhanced by modern techniques like 3-dimensional conformal radiation therapy and intensity-modulated radiation therapy. An active area of investigation is evaluating the use of hypofractionated dosing.

CONCLUSIONS

: Continued investigation to refine patient selection, external beam radiation technology application, and alternative dosing schedules should result in further improvements in biochemical outcome and decreased morbidity with external beam radiation treatment for localized prostate cancer.

Management of the baseline shift using a new and simple method for respiratory-gated radiation therapy: detectability and effectiveness of a flexible monitoring system

PURPOSE

In respiratory-gated radiation therapy, a baseline shift decreases the accuracy of target coverage and organs at risk (OAR) sparing. The effectiveness of audio-feedback and audio-visual feedback in correcting the baseline shift in the breathing pattern of the patient has been demonstrated previously. However, the baseline shift derived from the intrafraction motion of the patient's body cannot be corrected by these methods. In the present study, the authors designed and developed a simple and flexible system.

METHODS

The system consisted of a web camera and a computer running our in-house software. The in-house software was adapted to template matching and also to no preimage processing. The system was capable of monitoring the baseline shift in the intrafraction motion of the patient's body. Another marker box was used to monitor the baseline shift due to the flexible setups required of a marker box for gated signals. The system accuracy was evaluated by employing a respiratory motion phantom and was found to be within AAPM Task Group 142 tolerance (positional accuracy <2 mm and temporal accuracy <100 ms) for respiratory-gated radiation therapy. Additionally, the effectiveness of this flexible and independent system in gated treatment was investigated in healthy volunteers, in terms of the results from the differences in the baseline shift detectable between the marker positions, which the authors evaluated statistically.

RESULTS

The movement of the marker on the sternum [1.599 +/- 0.622 mm (1 SD)] was substantially decreased as compared with the abdomen [6.547 +/- 0.962 mm (1 SD)]. Additionally, in all of the volunteers, the baseline shifts for the sternum [-0.136 +/- 0.868 (2 SD)] were in better agreement with the nominal baseline shifts than was the case for the abdomen [-0.722 +/- 1.56 mm (2 SD)]. The baseline shifts could be accurately measured and detected using the monitoring system, which could acquire the movement of the marker on the sternum. The baseline shift-monitoring system with the displacement-based methods for highly accurate respiratory-gated treatments should be used to make most of the displacement-based gating methods.

CONCLUSIONS

The advent of intensity modulated radiation therapy and volumetric modulated radiation therapy facilitates margin reduction for the planning target volumes and the OARs, but highly accurate irradiation is needed to achieve target coverage and OAR sparing with a small margin. The baseline shifts can affect treatment not only with the respiratory gating system but also without the system. Our system can manage the baseline shift and also enables treatment irradiation to be undertaken with high accuracy.

Development of an optical-based image guidance system: technique detecting external markers behind a full facemask

PURPOSE

Optical image-guided systems (e.g., AlignRT, frameless SonArray, ExacTrac) have been used with advantages of avoiding excessive radiation exposure and real-time patient monitoring. Although these systems showed proven accuracy, they need to modify a full facemask for patients with H&N cancer and brain tumor. We developed an optical-based guidance system to manage interfractional and intrafractional setup errors by tracking external markers behind a full facemask.

METHODS

Infra-red (IR) reflecting markers were attached on the face of a head phantom and then the phantom was immobilized by a full face thermoplastic mask. A stereo camera system consisting of two CCD cameras was mounted on the inferior wall of treatment room. The stereo camera system was calibrated to reconstruct 3D coordinates of multiple markers with respect to the isocenter using the direct linear transform (DLT) algorithm. The real-time position of the phantom was acquired, through the stereo camera system, by detecting the IR markers behind the full facemask. The detection errors with respect to the reference positions of planning CT images were calculated in six degrees of freedom (6-DOF) by a rigid-body registration technique.

RESULTS

The calibration accuracy of the system was in submillimeter (0.33 mm +/- 0.27 mm), which was comparable to others. The mean distance between each of marker positions of optical images and planning CT images was 0.50 mm +/- 0.67 mm. The maximum deviations of 6-DOF registration were less than 1 mm and 1 degrees for the couch translation and rotation, respectively.

CONCLUSIONS

The developed system showed the accuracy and consistency comparable to the commercial optical guided systems, while allowing us to simultaneously immobilize patients with a full face thermoplastic mask.

Dosimetric and geometric evaluation of a hybrid strategy of offline adaptive planning and online image guidance for prostate cancer radiotherapy

For prostate cancer patients, online image-guided (IG) radiotherapy has been widely used in clinic to correct the translational inter-fractional motion at each treatment fraction. For uncertainties that cannot be corrected online, such as rotation and deformation of the target volume, margins are still required to be added to the clinical target volume (CTV) for the treatment planning. Offline adaptive radiotherapy has been implemented to optimize the treatment for each individual patient based on the measurements at early stages of treatment process. It has been shown that offline adaptive radiotherapy can effectively reduce the required margin. Recently a hybrid strategy of offline adaptive replanning and online IG was proposed and the geometric evaluation was performed. It was found that the planning margins can further be reduced by 1-2 mm compared to online IG only strategy. The purpose of this study was to investigate the dosimetric benefits of such a hybrid strategy on the target and organs at risk. A total of 420 repeated helical computed tomography scans from 28 patients were included in the study. Both low-risk patients (LRP, CTV = prostate) and intermediate-risk patients (IRP, CTV = prostate + seminal vesicles, SV) were included in the simulation. Two registration methods, based on center-of-mass shift of prostate only and prostate plus SV, were performed for IRP. The intensity-modulated radiotherapy was used in the simulation. Criteria on both cumulative and fractional doses were evaluated. Furthermore, the geometric evaluation was extended to investigate the optimal number of fractions necessary to construct the internal target volume (ITV) for the hybrid strategy. The dosimetric margin improvement was smaller than its geometric counterpart and was in the range of 0-1 mm. The optimal number of fractions necessary for the ITV construction is 2 for LRPs and 3-4 for IRPs in a hypofractionation protocol. A new cumulative index of target volume was proposed for the evaluation of adaptive radiotherapy strategies, and it was found that it had the advantages over other indices in evaluating different adaptive radiotherapy strategies.

Role of intra- or periprostatic calcifications in image-guided radiotherapy for prostate cancer

PURPOSE

Image-guided radiotherapy (IGRT) allows more precise localization of the prostate, thus minimizing errors resulting from organ motion and set-up during treatment of prostate cancer. Using megavoltage cone-beam computed tomography (MVCBCT), references such as bones, the prostate itself or implanted fiducial markers can be used as surrogates to correct patient positioning immediately before each treatment fraction. However, the use of fiducials requires an invasive procedure and may increase costs. We aimed to assess whether intra- or periprostatic calcifications (IPC) could be used as natural fiducials.

METHODS AND MATERIALS

Data on patients treated with IGRT for prostate cancer with clearly visible IPC and implanted fiducials in both planning CT and MVCBCT images were reviewed. IPC were classified as central when inside the prostate and peripheral when within the planning target volume. Daily deviations in lateral, longitudinal, and vertical directions from baseline positioning using fiducials and using IPC were compared.

RESULTS

A total of 287 MVCBCT images were obtained and analyzed from 10 patients. The mean ± standard deviation daily deviation (mm) in the lateral, longitudinal, and vertical coordinates were 0.55 ± 3.11, 0.58 ± 3.45, and -0.54 ± 4.03, respectively, for fiducials, and 0.72 ± 3.22, 0.63 ± 3.58, and -0.69 ± 4.26, for IPC. The p values for comparisons (fiducials vs. IPC) were 0.003, 0.653, and 0.078 for lateral, longitudinal, and vertical coordinates, respectively. When cases with central IPC were analyzed (n = 7), no significant difference was found in such comparisons. Central IPC and fiducials exhibited a similar pattern of displacement during treatment, with equal values for daily displacements in the three directions for more than 90% of measurements.

CONCLUSIONS

Our data suggest that centrally located IPC may be used as natural fiducials for treatment positioning during IGRT for prostate cancer, with potential reductions in the risks and costs associated with fiducial implantation.

Local image enhancement for fiducial marker detection in electronic portal images of prostate radiotherapy

This paper proposes a new method for the automatic contrast enhancement of fiducial markers in low-radiation Electronic Portal Images. It is shown that the proposed approach significantly enhances the contrast of the fiducial markers and produces results where these markers are clearly visible. The main theoretical contribution consists in designing an algorithm that enhances the contrast of small structures in noisy images; the parameters of this algorithm are not empirically selected, but determined via a maximum search over a contrast metric. From a practical standpoint, the proposed method has direct applications in the current clinical workflow involving manual marker detection. It is also able to significantly improve the performances of automatic marker detection reported in literature.

Imaging in radiation oncology: a perspective

This paper reviews the integration of imaging and radiation oncology, and discusses challenges and opportunities for improving the practice of radiation oncology with imaging.

An inherent goal of radiation therapy is to deliver enough dose to the tumor to eradicate all cancer cells or to palliate symptoms, while avoiding normal tissue injury. Imaging for cancer diagnosis, staging, treatment planning, and radiation targeting has been integrated in various ways to improve the chance of this occurring. A large spectrum of imaging strategies and technologies has evolved in parallel to advances in radiation delivery. The types of imaging can be categorized into offline imaging (outside the treatment room) and online imaging (inside the treatment room, conventionally termed image-guided radiation therapy). The direct integration of images in the radiotherapy planning process (physically or computationally) often entails trade-offs in imaging performance. Although such compromises may be acceptable given specific clinical objectives, general requirements for imaging performance are expected to increase as paradigms for radiation delivery evolve to address underlying biology and adapt to radiation responses. This paper reviews the integration of imaging and radiation oncology, and discusses challenges and opportunities for improving the practice of radiation oncology with imaging.

Fast, accurate, and robust automatic marker detection for motion correction based on oblique kV or MV projection image pairs

PURPOSE

A robust and accurate method that allows the automatic detection of fiducial markers in MV and kV projection image pairs is proposed. The method allows to automatically correct for inter or intrafraction motion.

METHODS

Intratreatment MV projection images are acquired during each of five treatment beams of prostate cancer patients with four implanted fiducial markers. The projection images are first preprocessed using a series of marker enhancing filters. 2D candidate marker locations are generated for each of the filtered projection images and 3D candidate marker locations are reconstructed by pairing candidates in subsequent projection images. The correct marker positions are retrieved in 3D by the minimization of a cost function that combines 2D image intensity and 3D geometric or shape information for the entire marker configuration simultaneously. This optimization problem is solved using dynamic programming such that the globally optimal configuration for all markers is always found. Translational interfraction and intrafraction prostate motion and the required patient repositioning is assessed from the position of the centroid of the detected markers in different MV image pairs. The method was validated on a phantom using CT as ground-truth and on clinical data sets of 16 patients using manual marker annotations as ground-truth.

RESULTS

The entire setup was confirmed to be accurate to around 1 mm by the phantom measurements. The reproducibility of the manual marker selection was less than 3.5 pixels in the MV images. In patient images, markers were correctly identified in at least 99% of the cases for anterior projection images and 96% of the cases for oblique projection images. The average marker detection accuracy was 1.4 +/- 1.8 pixels in the projection images. The centroid of all four reconstructed marker positions in 3D was positioned within 2 mm of the ground-truth position in 99.73% of all cases. Detecting four markers in a pair of MV images takes a little less than a second where most time is spent on the image preprocessing.

CONCLUSIONS

The authors have developed a method to automatically detect multiple markers in a pair of projection images that is robust, accurate, and sufficiently fast for clinical use. It can be used for kV, MV, or mixed image pairs and can cope with limited motion between the projection images.

Migration of intraprostatic fiducial markers and its influence on the matching quality in external beam radiation therapy for prostate cancer

PURPOSE

To assess the influence of fiducial marker (FM) migration on the matching quality in external beam radiation therapy (EBRT) for prostate cancer.

MATERIALS AND METHODS

The position of FMs were identified using on-board kV imaging (OBI) and their 3-D position established using an in-house reconstruction algorithm for 31 patients with prostate adenocarcinoma. To carry out the match, the positions were overlaid on the digitally reconstructed radiographs (DRR) generated from the planning CT. The distance between each FM was calculated for seven treatments throughout the EBRT course. Four radiotherapy technologists were asked to independently perform and rate the match from OBI to DRR which was then correlated to the extent of FM migration.

RESULTS

All the matches were rated by at least three radiotherapy technologists as "very easy" ("easy" subgroup) for 24 patients (77%), while the other seven patients had their match rated less than "very easy" and considered the "not easy" subgroup. The average daily FM migration was 0.93+/-0.34 mm for the "easy" subgroup vs. 1.82+/-0.75 mm for the latter. An average migration >2 mm was seen in five/seven patients in the "not easy" subgroup as compared to none in the "easy" subgroup. There was a trend towards less FM migration and better matching if the planning CT was done later than the day of the FM implant (p=0.093).

CONCLUSIONS

FM migration >2 mm predicts for a more difficult matching process; PTV margins might have to be adjusted or the planning CT repeated.

A hybrid strategy of offline adaptive planning and online image guidance for prostate cancer radiotherapy

Offline adaptive radiotherapy (ART) has been used to effectively correct and compensate for prostate motion and reduce the required margin. The efficacy depends on the characteristics of the patient setup error and interfraction motion through the whole treatment; specifically, systematic errors are corrected and random errors are compensated for through the margins. In online image-guided radiation therapy (IGRT) of prostate cancer, the translational setup error and inter-fractional prostate motion are corrected through pre-treatment imaging and couch correction at each fraction. However, the rotation and deformation of the target are not corrected and only accounted for with margins in treatment planning. The purpose of this study was to investigate whether the offline ART strategy is necessary for an online IGRT protocol and to evaluate the benefit of the hybrid strategy. First, to investigate the rationale of the hybrid strategy, 592 cone-beam-computed tomography (CBCT) images taken before and after each fraction for an online IGRT protocol from 16 patients were analyzed. Specifically, the characteristics of prostate rotation were analyzed. It was found that there exist systematic inter-fractional prostate rotations, and they are patient specific. These rotations, if not corrected, are persistent through the treatment fraction, and rotations detected in early fractions are representative of those in later fractions. These findings suggest that the offline adaptive replanning strategy is beneficial to the online IGRT protocol with further margin reductions. Second, to quantitatively evaluate the benefit of the hybrid strategy, 412 repeated helical CT scans from 25 patients during the course of treatment were included in the replanning study. Both low-risk patients (LRP, clinical target volume, CTV = prostate) and intermediate-risk patients (IRP, CTV = prostate + seminal vesicles) were included in the simulation. The contours of prostate and seminal vesicles were delineated on each CT. The benefit of margin reduction to compensate for both rotation and deformation in the hybrid strategy was evaluated geometrically. With the hybrid strategy, the planning margins can be reduced by 1.4 mm for LRP, and 2.0 mm for IRP, compared with the standard online IGRT only, to maintain the same 99% target volume coverage. The average relative reduction in planning target volume (PTV) based on the internal target volume (ITV) from PTV based on CTV is 19% for LRP, and 27% for IRP.

Comparison of transabdominal ultrasound and electromagnetic transponders for prostate localization

The aim of this study is to compare two methodologies of prostate localization in a large cohort of patients. Daily prostate localization using B‐mode ultrasound has been performed at the Nebraska Medical Center since 2000. More recently, a technology using electromagnetic transponders implanted within the prostate was introduced into our clinic (Calypso). With each technology, patients were localized initially using skin marks. Localization error distributions were determined from offsets between the initial setup positions and those determined by ultrasound or Calypso. Ultrasound localization data was summarized from 16,619 imaging sessions spanning seven years. Calypso localization data consists of 1524 fractions in 41 prostate patients treated in the course of a clinical trial at five institutions and 640 localizations from the first 16 patients treated with our clinical system. Ultrasound and Calypso patients treated between March and September 2007 at the Nebraska Medical Center were analyzed and compared, allowing a single institutional comparison of the two technologies. In this group of patients, the isocenter determined by ultrasound‐based localization is on average 5.3 mm posterior to that determined by Calypso, while the systematic and random errors and PTV margins calculated from the ultrasound localizations were 3–4 times smaller than those calculated from the Calypso localizations.

Our study finds that there are systematic differences between Calypso and ultrasound for prostate localization.

PACS number: 87.63.dh

A simple algorithm to assess patient suitability for Calypso-seed implantation for four-dimensional prostate localization

To retrospectively determine the proportion of prostate cancer patients who are appropriate candidates for prostate localization with Calypso (Calypso Medical, Seattle, WA); to assess the accuracy of surface anatomy in predicting prostate depth; and to describe a simple clinical algorithm predicting patient's appropriateness for Calypso localization. Medical records and archived CT scans of all patients treated for localized prostate cancer at our institution between 2006 and 2007 were reviewed. Association between the feasibility of Calypso use, the depth of the prostate from the anterior torso, and a variety of anatomic factors were assessed (ANOVA, linear regression, and ROC). Patients were appropriate for the Calypso system in 91% of cases (localize and track, 52%; localize only, 39%). Strong correlation between greater trochanter location and the posterior prostate was seen (r 2 = 0.91, mean difference 0.6 cm). The negative predictive value of the greater trochanter measurements was 31%. Thirty-one out of forty-five patients (69%) who were deemed inappropriate for Calypso based on greater trochanter to anterior torso measurements were eligible on the basis of CT-based measurements of prostate depth. Weight, BMI, waist circumference, and hip circumference correlated with distance from the prostate to the anterior torso and were predictive of Calypso appropriateness. All patients with weight Collapse

Key Words

• prostatic neoplasms
• radiotherapy

Collapse

MESH Headings

• Aged
• Aged, 80 and over
• Algorithms
• Body Mass Index
• Body Weight
• Humans
• Male
• Middle Aged
• Prostate/anatomy & histology
• Prostate/pathology
• Prostatic Neoplasms/pathology
• Prostatic Neoplasms/radiotherapy
• Prostheses and Implants
• Radiotherapy, Conformal/methods
• Regression Analysis
• Reproducibility of Results
• Risk Assessment
• Waist Circumference
• Waist-Hip Ratio

Collapse

Grants Collapse

Affiliation(s)

Randall J Kimple Department of Radiation Oncology, University of North Carolina at Chapel Hill, Chapel Hill, NC 27599-7512, USA.
Eric M Wallen
Raj Pruthi
Lawrence B Marks

Collapse

Positional reproducibility and effects of a rectal balloon in prostate cancer radiotherapy

Despite the increasing use of the rectal balloon in prostate cancer radiotherapy, many issues still remain to be verified objectively including its positional reproducibility and relevance to treatment morbidity. We have developed a custom rectal balloon that has a scale indicating the depth of insertion and dilates symmetrically ensuring positional reproducibility. Fifty patients with prostate cancer treated by definitive 3D-conformal radiotherapy (3D-CRT) or intensity-modulated radiotherapy (IMRT) with rectal balloon were analyzed. Each of first five patients undergone computed tomography (CT) three times with a rectal balloon. The positional reproducibility was tested by Intraclass Correlation Coefficient (ICC) from the CT-to-CT fusion images. Planning variables and clinical acute toxicities were compared between when or not applying balloon. An ICC of greater than 0.9 in all directions revealed an excellent reproducibility of the balloon. Rectal balloon improved considerably the mean dose and V(45Gy)-V(65Gy) in plan comparison, and especially in 3D-CRT the rectal volume exposed to more than 60 Gy dropped from 41.3% to 19.5%. Clinically, the balloon lowered acute toxicity, which was lowest when both the balloon and IMRT were applied simultaneously. The rectal balloon carries excellent reproducibility and reduces acute toxicity in 3D-CRT and IMRT for prostate cancer.