Fiducial-based translational localization accuracy of electromagnetic tracking system and on-board kilovoltage imaging system

A Prospective Study on Deep Inspiration Breath Hold Thoracic Radiation Therapy Guided by Bronchoscopically Implanted Electromagnetic Transponders

BACKGROUND

Electromagnetic transponders bronchoscopically implanted near the tumor can be used to monitor deep inspiration breath hold (DIBH) for thoracic radiation therapy (RT). The feasibility and safety of this approach require further study.

METHODS

We enrolled patients with primary lung cancer or lung metastases. Three transponders were implanted near the tumor, followed by simulation with DIBH, free breathing, and 4D-CT as backup. The initial gating window for treatment was ±5 mm; in a second cohort, the window was incrementally reduced to determine the smallest feasible gating window. The primary endpoint was feasibility, defined as completion of RT using transponder-guided DIBH. Patients were followed for assessment of transponder- and RT-related toxicity.

RESULTS

We enrolled 48 patients (35 with primary lung cancer and 13 with lung metastases). The median distance of transponders to tumor was 1.6 cm (IQR 0.6-2.8 cm). RT delivery ranged from 3 to 35 fractions. Transponder-guided DIBH was feasible in all but two patients (96% feasible), where it failed because the distance between the transponders and the antenna was >19 cm. Among the remaining 46 patients, 6 were treated prone to keep the transponders within 19 cm of the antenna, and 40 were treated supine. The smallest feasible gating window was identified as ±3 mm. Thirty-nine (85%) patients completed one year of follow-up. Toxicities at least possibly related to transponders or the implantation procedure were grade 2 in six patients (six incidences, cough and hemoptysis), grade 3 in three patients (five incidences, cough, dyspnea, pneumonia, and supraventricular tachycardia), and grade 4 pneumonia in one patient (occurring a few days after implantation but recovered fully and completed RT). Toxicities at least possibly related to RT were grade 2 in 18 patients (41 incidences, most commonly cough, fatigue, and pneumonitis) and grade 3 in four patients (seven incidences, most commonly pneumonia), and no patients had grade 4 or higher toxicity.

CONCLUSIONS

Bronchoscopically implanted electromagnetic transponder-guided DIBH lung RT is feasible and safe, allowing for precise tumor targeting and reduced normal tissue exposure. Transponder-antenna distance was the most common challenge due to a limited antenna range, which could sometimes be circumvented by prone positioning.

Companion Animals as a Key to Success for Translating Radiation Therapy Research into the Clinic

Many successful preclinical findings fail to be replicated during translation to human studies. This leads to significant resources being spent on large clinical trials, and in some cases, promising therapeutics not being pursued due to the high costs of clinical translation. These translational failures emphasize the need for improved preclinical models of human cancer so that there is a higher probability of successful clinical translation. Companion-animal cancers offer a potential solution. These cancers are more similar to human cancer than other preclinical models, with a natural evolution over time, genetic alterations, intact immune system, and a permanent adaptation to the microenvironment. These advantages have led pioneers in veterinary radiation oncology to aid human medicine by elucidating basic principles of radiation biology. More recently, the veterinary and human radiation oncology fields have increasingly collaborated to achieve advancements in education, radiotherapy techniques, and trial networks. This review describes these advancements, including significant prior research findings and the evolution of the veterinary radiation oncology discipline. It concludes by describing how companion-animal models can help shape the future of human radiotherapy. Taken as a whole, this review suggests companion-animal cancers may become widely used for preclinical radiotherapy research.

A real-time IGRT method using a Kalman filter framework to extract 3D positions from 2D projections

PURPOSE

To estimate 3D prostate motion in real-time during irradiation from 2D prostate positions acquired from a kV imager on a standard linear accelerator utilising a Kalman-Filter (KF) framework. The advantage of this novel method is threefold: (1) eliminating the need of an initial learning period, therefore reducing patient imaging dose, (2) more robust against measurement noise and (3) more computationally efficient.

METHODS

A KF framework was implemented to estimate 3D motion from 2D projection measurements in real-time during prostate cancer treatments. The noise covariance matrix was estimated from the previous 10 measurements. This method did not require an initial learning period as it was initialised using a population covariance matrix. This method was evaluated using a ground-truth motion dataset of 17 prostate cancer patients (536 trajectories) measured with electromagnetic transponders. 3D motion was projected onto a rotating imager (SID=180cm) (pixel size=0.388mm) and rotation speed of 6°/s and 2°/s to simulate VMAT treatments. Gantry-varying additive random noise (±5mm) was added to ground-truth measurements to simulate segmentation error and image quality degradation due to the patient's pelvic bones. For comparison, motion was also estimated using the clinically implemented Gaussian PDF method initialised with 600 projections.

RESULTS

Without noise, the 3D root-mean-square-errors (3D RMSEs) of motion estimated by the KF method were 0.4±0.1mm and 0.3±0.2mm for 2°/s and 6°/s gantry rotation, respectively. With noise, 3D RMSEs of KF estimated motion were 1.1±0.1 mm for both slow and fast gantry rotation scenarios. In comparison, using a Gaussian PDF method, with noise, 3D RMSE was 2±0.1 mm for both gantry rotation scenarios.

CONCLUSION

This work presents a fast and accurate method for real-time 2D to 3D motion estimation using a Kalman lter approach to handle the random-walk component of prostate cancer motion. This method has sub-mm accuracy and is highly robust against measurement noise.

Localization accuracy of two electromagnetic tracking systems in prostate cancer radiotherapy: A comparison with fiducial marker based kilovoltage imaging

The aim of this study was to evaluate the localization accuracy of electromagnetic (EM) tracking systems RayPilot (Micropos Medical AB) and Calypso (Varian Medical Systems) in prostate cancer radiotherapy. The accuracy was assessed by comparing couch shifts obtained with the EM methods to the couch shifts determined by simultaneous fiducial marker (FM) based orthogonal kilovoltage (kV) imaging. Agreement between the methods was compared using Bland-Altman analysis. Interfractional positional stability of the FMs, RayPilot transmitters and Calypso transponders was investigated. 582 fractions from 22 RayPilot patients and 335 fractions from 26 Calypso patients were analyzed. Mean (± standard deviation (SD)) differences between RayPilot and kV imaging were 0.3 ± 2.2, -2.2 ± 2.4 and -0.0 ± 1.0 mm in anterior-posterior (AP), superior-inferior (SI) and left-right (LR) directions, respectively. Corresponding 95% limits of agreement (LOA) were ±4.3, ±4.7 and ±2.1 mm around the mean. Mean (±SD) differences between Calypso and kV imaging were -0.2 ± 0.6, 0.1 ± 0.5 and -0.1 ± 0.4 mm in AP, SI and LR directions, respectively, and corresponding LOAs were ±1.3, ±1.0 and ±0.8 mm around the mean. FMs and transponders were stable: SD of intermarker and intertransponder distances was 0.5 mm. Transmitters were unstable: mean caudal transmitter shift of 1.8 ± 2.0 mm was observed. Results indicate that the localization accuracy of the Calypso is comparable to kV imaging of fiducials and the methods could be used interchangeably. The localization accuracy of the RayPilot is affected by transmitter instability and the positioning of the patient should be verified by other setup techniques. The study is part of clinical trial NCT02319239.

First clinical implementation of real-time, real anatomy tracking and radiation beam control

PURPOSE

We describe the acceptance testing, commissioning, periodic quality assurance, and workflow procedures developed for the first clinically implemented magnetic resonance imaging-guided radiation therapy (MR-IGRT) system for real-time tracking and beam control.

METHODS

The system utilizes real-time cine imaging capabilities at 4 frames per second for real-time tracking and beam control. Testing of the system was performed using an in-house developed motion platform and a commercially available motion phantom. Anatomical tracking is performed by first identifying a target (a region of interest that is either tissue to be treated or a critical structure) and generating a contour around it. A boundary contour is also created to identify tracking margins. The tracking algorithm deforms the anatomical contour (target or a normal organ) on every subsequent cine frame and compares it to the static boundary contour. If the anatomy of interest moves outside the boundary, the radiation delivery is halted until the tracked anatomy returns to treatment portal. The following were performed to validate and clinically implement the system: (a) spatial integrity evaluation; (b) tracking accuracy; (c) latency; (d) relative point dose and spatial dosimetry; (e) development of clinical workflow for gating; and (f) independent verification by an outside credentialing service.

RESULTS

The spatial integrity of the MR system was found to be within 2 mm over a 45-cm diameter field-of-view. The tracking accuracy for geometric targets was within 1.2 mm. The average system latency was measured to be within 394 ms. The dosimetric accuracy using ionization chambers was within 1.3% ± 1.7%, and the dosimetric spatial accuracy was within 2 mm. The phantom irradiation for the outside credentialing service had satisfactory results, as well.

CONCLUSIONS

The first clinical MR-IGRT system was validated for real-time tracking and gating capabilities and shown to be reliable and accurate. Patient workflow methods were developed for efficient treatment. Periodic quality assurance tests can be efficiently performed with commercially available equipment to ensure accurate system performance.

Internal Motion Estimation by Internal-external Motion Modeling for Lung Cancer Radiotherapy

The aim of this study is to develop an internal-external correlation model for internal motion estimation for lung cancer radiotherapy. Deformation vector fields that characterize the internal-external motion are obtained by respectively registering the internal organ meshes and external surface meshes from the 4DCT images via a recently developed local topology preserved non-rigid point matching algorithm. A composite matrix is constructed by combing the estimated internal phasic DVFs with external phasic and directional DVFs. Principle component analysis is then applied to the composite matrix to extract principal motion characteristics, and generate model parameters to correlate the internal-external motion. The proposed model is evaluated on a 4D NURBS-based cardiac-torso (NCAT) synthetic phantom and 4DCT images from five lung cancer patients. For tumor tracking, the center of mass errors of the tracked tumor are 0.8(±0.5)mm/0.8(±0.4)mm for synthetic data, and 1.3(±1.0)mm/1.2(±1.2)mm for patient data in the intra-fraction/inter-fraction tracking, respectively. For lung tracking, the percent errors of the tracked contours are 0.06(±0.02)/0.07(±0.03) for synthetic data, and 0.06(±0.02)/0.06(±0.02) for patient data in the intra-fraction/inter-fraction tracking, respectively. The extensive validations have demonstrated the effectiveness and reliability of the proposed model in motion tracking for both the tumor and the lung in lung cancer radiotherapy.

Comparison between electromagnetic transponders and radiographic imaging for prostate localization: A pelvic phantom study with rotations and translations

The aim of this study was to evaluate the differences in target localization between Calypso^®, kV orthogonal imaging and cone‐beam computed tomography (CBCT) for combined translations and rotations of an anthropomorphic pelvic phantom. The phantom was localized using all three systems in 50 different positions, with applied translational and rotational offsets randomly sampled from representative normal distributions of prostate motion. Lin's concordance correlation coefficient (ρc) and 95% confidence intervals were calculated to assess the agreement between the localization systems. Mean differences and difference vectors between the three systems were also calculated. Agreement between systems for lateral, vertical, and longitudinal translations was excellent, with ρc values of greater than 0.98 between all three systems in all axes. There was excellent agreement between the systems for rotations around the lateral axis (pitch) (ρc > 0.99), and around the vertical axis (yaw) (ρc > 0.97). However, somewhat poorer agreement for rotations around the longitudinal axis (roll) was observed, with the lowest correlation observed between Calypso and kV orthogonal imaging (ρc = 0.895). Mean differences between the phantom position reported by Calypso and the radiographic systems were less than 1 mm and 1° for all translations and rotations. The results for translations are consistent with the publications of previous authors. There is no comparable published data for rotations. While there is lower correlation between the three systems for roll than for the other angles, the mean differences in reported rotations are not clinically significant.

Validation of dynamic treatment-couch tracking for prostate SBRT

PURPOSE

In stereotactic body radiation therapy (SBRT) of prostatic cancer, a high dose per fraction is applied to the target with steep dose gradients. Intrafractional prostate motion can occur unpredictably during the treatment and lead to target miss. This work investigated the dosimetric benefit of motion compensation with dynamic treatment-couch tracking for prostate SBRT treatments in the presence of prostatic motion.

METHODS

Ten SBRT treatment plans for prostate cancer patients with integrated boosts to their index lesion were prepared. The treatment plans were applied with a TrueBeam linear accelerator to a phantom in (a) static reference position, (b) moved with five prostate motion trajectories without any motion compensation, and (c) with real-time compensation using transponder-guided couch tracking. The geometrical position of the electromagnetic transponder was evaluated in the tracked and untracked situation. The dosimetric performance of couch tracking was evaluated, using Gamma agreement indices (GAI) and other dose parameters. These were evaluated within the phantoms biplanar diode array, as well as target- and organ-specific.

RESULTS

The root-mean-square error of the motion traces (range: 0.8-4.4 mm) was drastically reduced with couch tracking (0.2-0.4 mm). Residual motion was mainly observed at abrupt direction changes with steep motion gradients. The phantom measurements showed significantly better GAI_1%/1mm with tracked (range: 83.4%-100.0%) than with untracked motion (28.9%-99.7%). Also GAI_2%/2mm was significantly superior for the tracked (98.4%-100.0%) than the untracked motion (52.3%-100.0%). The organ-specific evaluation showed significantly better target coverage with tracking. The dose to the rectum and bladder showed a dependency on the anterior-posterior motion direction.

CONCLUSIONS

Couch tracking clearly improved the dosimetric accuracy of prostate SBRT treatments. The treatment couch was able to compensate the prostatic motion with only some minor residual motion. Therefore, couch tracking combined with electromagnetic position monitoring for prostate SBRT is feasible and improves the accuracy in treatment delivery when prostate motion is present.

Technical Note: Validation and implementation of a wireless transponder tracking system for gated stereotactic ablative radiotherapy of the liver

PURPOSE

Tracking soft-tissue targets has recently been cleared as a new application of Calypso, an electromagnetic wireless transponder tracking system, allowing for gated treatment of the liver based on the motion of the target volume itself. The purpose of this study is to describe the details of validating the Calypso system for wireless transponder tracking of the liver and to present the clinical workflow for using it to deliver gated stereotactic ablative radiotherapy (SABR).

METHODS

A commercial 3D diode array motion system was used to evaluate the dynamic tracking accuracy of Calypso when tracking continuous large amplitude motion. It was then used to perform end-to-end tests to evaluate the dosimetric accuracy of gated beam delivery for liver SABR. In addition, gating limits were investigated to determine how large the gating window can be while still maintaining dosimetric accuracy. The gating latency of the Calypso system was also measured using a customized motion phantom.

RESULTS

The average absolute difference between the measured and expected positional offset was 0.3 mm. The 2%/2 mm gamma pass rates for the gated treatment delivery were greater than 97%. When increasing the gating limits beyond the known extent of planned motion, the gamma pass rates decreased as expected. The 2%/2 mm gamma pass rate for a 1, 2, and 3 mm increase in gating limits was measured to be 97.8%, 82.9%, and 61.4%, respectively. The average gating latency was measured to be 63.8 ms for beam-hold and 195.8 ms for beam-on. Four liver patients with 17 total fractions have been successfully treated at our institution.

CONCLUSIONS

Wireless transponder tracking was validated as a dosimetrically accurate way to provide gated SABR of the liver. The dynamic tracking accuracy of the Calypso system met manufacturer's specification, even for continuous large amplitude motion that can be encountered when tracking liver tumors close to the diaphragm. The measured beam-hold gating latency was appropriate for targets that will traverse the gating limit each respiratory cycle causing the beam to be interrupted constantly throughout treatment delivery.

Prostate motion during radiotherapy of prostate cancer patients with and without application of a hydrogel spacer: a comparative study

Background and purpose

The use of a tissue expander (hydrogel) for sparing of the rectum from increased irradiation during prostate radiotherapy is becoming popular. The goal of this study is to investigate the effect of a tissue expander (hydrogel) on the intrafraction prostate motion during radiotherapy.

Methods and material

Real time prostate motion was analysed for 26 patients and 742 fractions; 12 patients with and 14 patients without hydrogel (SpaceOAR™). The intra-fraction motion was quantified and compared between the two groups.

Results

The average (±standard deviation) of the mean motion during the treatment for patients with and without hydrogel was 1.5 (±0.8 mm) and 1.1 (±0.9 mm) respectively (p < 0.05). The average time of motion >3 mm for patients with and without hydrogel was 7.7 % (±1.1 %) and 4.5 % (±0.9 %) respectively (p > 0.05). The hydrogel age, fraction number and treatment time were found to have no effect (R² < 0.05) on the prostate motion.

Conclusions

Differences in intrafraction motion in patients with hydrogel and without hydrogel were within measurement uncertainty (<1 mm). This result confirms that the addition of a spacer does not negate the need for intrafraction motion management if clinically indicated.

Calypso’s array attenuation

Introduction

The Calypso 4D Localization System gives the possibility to track the tumour during treatment, with no additional ionising radiation delivered. To monitor the patient continuously an array is positioned above the patient during the treatment. We intend to study, for various gantry angles, the attenuation effect of the array for 6- and 10 MV and flattening filter free (FFF) 6- and FFF 10 MV photon beams.

Materials and methods

Measurements were performed using an ion chamber placed in a slab phantom positioned at the linac isocenter for 6 MV, 10 MV, FFF 6 MV and FFF 10 MV photon beams. Measurements were performed with and without array above the phantom for 0°, 10°, 20°, 40° and 50° beam angle for a True Beam STx linac, for 5×5 and 10×10 and 15×15 cm2 field size beams to evaluate the attenuation of the array. A VMAT treatment plan was measured using an ArcCheck with and without the array in the beam path.

Results and discussion

Attenuation measured values were up to 3%. Attenuation values were between 1 and 2% with the exception of the 30°–50° gantry angles which were up to 3.3%. The ratio values calculated in the ArcCheck for relative dose and absolute dose 10 were both 1·00.

Conclusion

Attenuation of the treatment beam by the Calypso array is within acceptable limits.

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.

Self-management of patient body position, pose, and motion using wide-field, real-time optical measurement feedback: results of a volunteer study

PURPOSE

We present the results of a clinical feasibility study, performed in 10 healthy volunteers undergoing a simulated treatment over 3 sessions, to investigate the use of a wide-field visual feedback technique intended to help patients control their pose while reducing motion during radiation therapy treatment.

METHODS AND MATERIALS

An optical surface sensor is used to capture wide-area measurements of a subject's body surface with visualizations of these data displayed back to them in real time. In this study we hypothesize that this active feedback mechanism will enable patients to control their motion and help them maintain their setup pose and position. A capability hierarchy of 3 different level-of-detail abstractions of the measured surface data is systematically compared.

RESULTS

Use of the device enabled volunteers to increase their conformance to a reference surface, as measured by decreased variability across their body surfaces. The use of visual feedback also enabled volunteers to reduce their respiratory motion amplitude to 1.7 ± 0.6 mm compared with 2.7 ± 1.4 mm without visual feedback.

CONCLUSIONS

The use of live feedback of their optically measured body surfaces enabled a set of volunteers to better manage their pose and motion when compared with free breathing. The method is suitable to be taken forward to patient studies.

A measurement technique to determine the calibration accuracy of an electromagnetic tracking system to radiation isocenter

PURPOSE

To present and characterize a measurement technique to quantify the calibration accuracy of an electromagnetic tracking system to radiation isocenter.

METHODS

This technique was developed as a quality assurance method for electromagnetic tracking systems used in a multi-institutional clinical hypofractionated prostate study. In this technique, the electromagnetic tracking system is calibrated to isocenter with the manufacturers recommended technique, using laser-based alignment. A test patient is created with a transponder at isocenter whose position is measured electromagnetically. Four portal images of the transponder are taken with collimator rotations of 45° 135°, 225°, and 315°, at each of four gantry angles (0°, 90°, 180°, 270°) using a 3×6 cm2 radiation field. In each image, the center of the copper-wrapped iron core of the transponder is determined. All measurements are made relative to this transponder position to remove gantry and imager sag effects. For each of the 16 images, the 50% collimation edges are identified and used to find a ray representing the rotational axis of each collimation edge. The 16 collimator rotation rays from four gantry angles pass through and bound the radiation isocenter volume. The center of the bounded region, relative to the transponder, is calculated and then transformed to tracking system coordinates using the transponder position, allowing the tracking system's calibration offset from radiation isocenter to be found. All image analysis and calculations are automated with inhouse software for user-independent accuracy. Three different tracking systems at two different sites were evaluated for this study.

RESULTS

The magnitude of the calibration offset was always less than the manufacturer's stated accuracy of 0.2 cm using their standard clinical calibration procedure, and ranged from 0.014 to 0.175 cm. On three systems in clinical use, the magnitude of the offset was found to be 0.053±0.036, 0.121±0.023, and 0.093±0.013 cm.

CONCLUSIONS

The method presented here provides an independent technique to verify the calibration of an electromagnetic tracking system to radiation isocenter. The calibration accuracy of the system was better than the 0.2 cm accuracy stated by the manufacturer. However, it should not be assumed to be zero, especially for stereotactic radiation therapy treatments where planning target volume margins are very small.

Effects on the photon beam from an electromagnetic array used for patient localization and tumor tracking

One of the main components in a Calypso 4D localization and tracking system is an electromagnetic array placed above patients that is used for target monitoring during radiation treatment. The beam attenuation and beam spoiling properties of the Calypso electromagnetic array at various beam angles were investigated. Measurements were performed on a Varian Clinac iX linear accelerator with 6 MV and 15 MV photon beams. The narrow beam attenuation properties were measured under a field size of 1 cm × 1 cm, with a photon diode placed in a cylindrical graphite buildup cap. The broad beam attenuation properties were measured under a field size of 10 cm × 10 cm, with a 0.6 cc cylindrical Farmer chamber placed in a polystyrene buildup cap. Beam spoiling properties of the array were studied by measuring depth-dose change from the array under a field size of 10 cm × 10 cm in a water-equivalent plastic phantom with an embedded Markus parallel plate chamber. Change in depth doses were measured with the array placed at distances of 2, 5, and 10 cm from the phantom surface. Narrow beam attenuation and broad beam attenuation from the array were found to be less than 2%-3% for both 6 MV and 15 MV beams at angles less than 40°, and were more pronounced at more oblique angles. Spoiling effects are appreciable at beam buildup region, but are insignificant at depths beyond dmax. Dose measurements in a QA phantom using patient IMRT and VMAT treatment plans were shown to have less than 2.5% dose difference with the Calypso array. The results indicate that the dose difference due to the placement of Calypso array is clinically insignificant.

Comparison of dose decrement from intrafraction motion for prone and supine prostate radiotherapy

BACKGROUND AND PURPOSE

Dose effects of intrafraction motion during prone prostate radiotherapy are unknown. We compared prone and supine treatment using real-time tracking data to model dose coverage.

MATERIAL AND METHODS

Electromagnetic tracking data were analyzed for 10 patients treated prone, and 15 treated supine, with IMRT for localized prostate cancer. Plans were generated using 0 mm, 3 mm, and 5mm PTV expansions. Manual beam-hold interventions were applied to reposition the patient when translations exceeded a predetermined threshold. A custom software application (SWIFTER) used intrafraction tracking data acquired during beam-on model delivered prostate dose, by applying rigid body transformations to the prostate structure contoured at simulation within the planned dose cloud. The delivered minimum prostate dose as a percentage of planned dose (Dmin%), and prostate volume covered by the prescription dose as a percentage of the planned volume (VRx%) were compared for prone and supine treatment.

RESULTS

Dmin% was reduced for prone treatment for 0 (p=0.02) and 3 mm (p=0.03) PTV margins. VRx% was reduced for prone treatment only for 0mm margins (p=0.002). No significant differences were found using 5 mm margins.

CONCLUSIONS

Intrafraction motion has a greater impact on target coverage for prone compared to supine prostate radiotherapy. PTV margins of 3 mm or less correlate with a significant decrease in delivered dose for prone treatment.

Quality assurance for nonradiographic radiotherapy localization and positioning systems: report of Task Group 147

New technologies continue to be developed to improve the practice of radiation therapy. As several of these technologies have been implemented clinically, the Therapy Committee and the Quality Assurance and Outcomes Improvement Subcommittee of the American Association of Physicists in Medicine commissioned Task Group 147 to review the current nonradiographic technologies used for localization and tracking in radiotherapy. The specific charge of this task group was to make recommendations about the use of nonradiographic methods of localization, specifically; radiofrequency, infrared, laser, and video based patient localization and monitoring systems. The charge of this task group was to review the current use of these technologies and to write quality assurance guidelines for the use of these technologies in the clinical setting. Recommendations include testing of equipment for initial installation as well as ongoing quality assurance. As the equipment included in this task group continues to evolve, both in the type and sophistication of technology and in level of integration with treatment devices, some of the details of how one would conduct such testing will also continue to evolve. This task group, therefore, is focused on providing recommendations on the use of this equipment rather than on the equipment itself, and should be adaptable to each user's situation in helping develop a comprehensive quality assurance program.

Patient specific respiratory motion modeling using a 3D patient's external surface

PURPOSE

Respiratory motion modeling of both tumor and surrounding tissues is a key element in minimizing errors and uncertainties in radiation therapy. Different continuous motion models have been previously developed. However, most of these models are based on the use of parameters such as amplitude and phase extracted from 1D external respiratory signal. A potentially reduced correlation between the internal structures (tumor and healthy organs) and the corresponding external surrogates obtained from such 1D respiratory signal is a limitation of these models. The objective of this work is to describe a continuous patient specific respiratory motion model, accounting for the irregular nature of respiratory signals, using patient external surface information as surrogate measures rather than a 1D respiratory signal.

METHODS

Ten patients were used in this study having each one 4D CT series, a synchronized RPM signal and patient surfaces extracted from the 4D CT volumes using a threshold based segmentation algorithm. A patient specific model based on the use of principal component analysis was subsequently constructed. This model relates the internal motion described by deformation matrices and the external motion characterized by the amplitude and the phase of the respiratory signal in the case of the RPM or using specific regions of interest (ROI) in the case of the patients' external surface utilization. The capability of the different models considered to handle the irregular nature of respiration was assessed using two repeated 4D CT acquisitions (in two patients) and static CT images acquired at extreme respiration conditions (end of inspiration and expiration) for one patient.

RESULTS

Both quantitative and qualitative parameters covering local and global measures, including an expert observer study, were used to assess and compare the performance of the different motion estimation models considered. Results indicate that using surface information [correlation coefficient (CC): 0.998 ± 0.0006 and model error (ME): 1.35 ± 0.21 mm] is superior to the use of both motion phase and amplitude extracted from a 1D respiratory signal (CC and ME of 0.971 ± 0.02 and 1.64 ± 0.28 mm). The difference in performance was more substantial compared to the use of only one parameter (phase or amplitude) used in the motion model construction. Similarly, the patient surface based model was better in estimating the motion in the repeated 4D CT acquisitions and those CT images acquired at the full inspiration (FI) and the full expiration (FE). Once more, within this context the use of both amplitude and phase in the model building was substantially more robust than the use of phase or amplitude only.

CONCLUSIONS

The present study demonstrates the potential of using external patient surfaces for the construction of patient specific respiratory motion models. Such information can be obtained using different devices currently available. The use of external surface information led to the best performance in estimating internal structure motion. On the other hand, the use of both amplitude and phase parameters derived from an 1D respiration signal led to largely superior model performance relative to the use of only one of these two parameters in the model building process.

Mitigating errors in external respiratory surrogate-based models of tumor position

PURPOSE

To investigate the effect of tumor site, measurement precision, tumor-surrogate correlation, training data selection, model design, and interpatient and interfraction variations on the accuracy of external marker-based models of tumor position.

METHODS AND MATERIALS

Cyberknife Synchrony system log files comprising synchronously acquired positions of external markers and the tumor from 167 treatment fractions were analyzed. The accuracy of Synchrony, ordinary-least-squares regression, and partial-least-squares regression models for predicting the tumor position from the external markers was evaluated. The quantity and timing of the data used to build the predictive model were varied. The effects of tumor-surrogate correlation and the precision in both the tumor and the external surrogate position measurements were explored by adding noise to the data.

RESULTS

The tumor position prediction errors increased during the duration of a fraction. Increasing the training data quantities did not always lead to more accurate models. Adding uncorrelated noise to the external marker-based inputs degraded the tumor-surrogate correlation models by 16% for partial-least-squares and 57% for ordinary-least-squares. External marker and tumor position measurement errors led to tumor position prediction changes 0.3-3.6 times the magnitude of the measurement errors, varying widely with model algorithm. The tumor position prediction errors were significantly associated with the patient index but not with the fraction index or tumor site. Partial-least-squares was as accurate as Synchrony and more accurate than ordinary-least-squares.

CONCLUSIONS

The accuracy of surrogate-based inferential models of tumor position was affected by all the investigated factors, except for the tumor site and fraction index.

Motion-compensated estimation of delivered dose during external beam radiation therapy: implementation in Philips' Pinnacle(3) treatment planning system

PURPOSE

Recent research efforts investigating dose escalation techniques for three-dimensional conformal radiation therapy (3D CRT) and intensity modulated radiation therapy (IMRT) have demonstrated great benefit when high-dose hypofractionated treatment schemes are implemented. The use of these paradigms emphasizes the importance of smaller treatment margins to avoid high dose to surrounding normal tissue or organs at risk (OARs). However, tighter margins may lead to underdosage of the target due to the presence of organ motion. It is important to characterize organ motion and possibly account for it during treatment delivery. The need for real-time localization of dynamic targets has encouraged the use and development of more continuous motion monitoring systems such as kilo-voltage/fluoroscopic imaging, electromagnetic tracking, and optical monitoring systems.

METHODS

This paper presents the implementation of an algorithm to quantify translational and rotational interfractional and intrafractional prostate motion and compute the dosimetric effects of these motion patterns. The estimated delivered dose is compared with the static plan dose to evaluate the success of delivering the plan in the presence of prostate motion. The method is implemented on a commercial treatment planning system (Pinnacle(3), Philips Radiation Oncology Systems, Philips Healthcare) and is termed delivered dose investigational tool (DiDIT). The DiDIT implementation in Pinnacle(3) is validated by comparisons with previously published results. Finally, different workflows are discussed with respect to the potential use of this tool in clinical treatment planning.

RESULTS

The DiDIT dose estimation process took approximately 5-20 min (depending on the number of fractions analyzed) on a Pinnacle(3) 9.100 research version running on a Dell M90 system (Dell, Inc., Round Rock, TX, USA) equipped with an Intel Core 2 Duo processor (Intel Corporation, Santa Clara, CA, USA). The DiDIT implementation in Pinnacle(3) was found to be in agreement with previously published results, on the basis of the percent dose difference (PDD). This metric was also utilized to compare plan dose versus delivered dose, for prostate targets in three clinically acceptable treatment plans.

CONCLUSIONS

This paper presents results from the implementation of an algorithm on a commercially available treatment planning system that quantifies the dosimetric effects of interfractional and intrafractional motion in external beam radiation therapy (EBRT) of prostate cancer. The implementation of this algorithm within a commercial treatment planning system such as Pinnacle(3) enables easy deployment in the existing clinical workflow. The results of the PDD tests validate the implementation of the DiDIT algorithm in Pinnacle(3), in comparison with previously published results.

Determination of action thresholds for electromagnetic tracking system-guided hypofractionated prostate radiotherapy using volumetric modulated arc therapy

PURPOSE

Hypofractionated prostate radiotherapy may benefit from both volumetric modulated are therapy (VMAT) due to shortened treatment time and intrafraction real-time monitoring provided by implanted radiofrequency(RF) transponders. The authors investigate dosimetrically driven action thresholds (whether treatment needs to be interrupted and patient repositioned) in VMAT treatment with electromagnetic (EM) tracking.

METHODS

VMAT plans for five patients are generated for prescription doses of 32.5 and 42.5 Gy in five fractions. Planning target volume (PTV) encloses the clinical target volume (CTV) with a 3 mm margin at the prostate-rectal interface and 5 mm elsewhere. The VMAT delivery is modeled using 180 equi-spaced static beams. Intrafraction prostate motion is simulated in the plan by displacing the beam isocenter at each beam assuming rigid organ motion according to a previously recorded trajectory of the transponder centroid. The cumulative dose delivered in each fraction is summed over all beams. Two sets of 57 prostate motion trajectories were randomly selected to form a learning and a testing dataset. Dosimetric end points including CTV D95%, rectum wall D1cc, bladder wall D1cc, and urethra Dmax, are analyzed against motion characteristics including the maximum amplitude of the anterior-posterior (AP), superior-inferior (SI), and left-right components. Action thresholds are triggered when intrafraction motion causes any violations of dose constraints to target and organs at risk (OAR), so that treatment is interrupted and patient is repositioned.

RESULTS

Intrafraction motion has a little effect on CTV D95%, indicating PTV margins are adequate. Tight posterior and inferior action thresholds around 1 mm need to be set in a patient specific manner to spare organs at risk, especially when the prescription dose is 42.5 Gy. Advantages of setting patient specific action thresholds are to reduce false positive alarms by 25% when prescription dose is low, and increase the sensitivity of detecting dose limits violations by 30% when prescription dose is high, compared to a generic 2 mm action box. The sensitivity and specificity calculated from the testing dataset are consistent to the learning set, which indicates that the patient specific approach is reliable and reproducible within the scope of the prostate database.

CONCLUSIONS

This work introduces a formalism for ensuring a VMAT delivery meets the most clinically important dose requirements by using patient specific and dosimetric-driven action thresholds to hold the beam and reposition the patient when necessary. Such methods can provide improved sensitivity and specificity compared to conventional methods, which assume directionally symmetric action thresholds.

Technical note: Correlation of respiratory motion between external patient surface and internal anatomical landmarks

PURPOSE

Current respiratory motion monitoring devices used for motion synchronization in medical imaging and radiotherapy provide either 1D respiratory signal over a specific region or 3D information based on few external or internal markers. On the other hand, newer technology may offer the potential to monitor the entire patient external surface in real time. The main objective of this study was to assess the motion correlation between such an external patient surface and internal anatomical landmarks motion.

METHODS

Four dimensional computed tomography (4D CT) volumes for ten patients were used in this study. Anatomical landmarks were manually selected in the thoracic region across the 4D CT datasets by two experts. The landmarks included normal structures as well as the tumor location. In addition, a distance map representing the entire external patient surface, which corresponds to surfaces acquired by a time of flight (ToF) camera or similar devices, was created by segmenting the skin of all 4D CT volumes using a thresholding algorithm. Finally, the correlation between the internal landmarks and external surface motion was evaluated for different regions (placement and size) throughout a patient's surface.

RESULTS

Significant variability was observed in the motion of the different parts of the external patient surface. The larger motion magnitude was consistently measured in the central regions of the abdominal and the thoracic areas for the different patient datasets considered. The highest correlation coefficients were observed between the motion of these external surface areas and internal landmarks such as the diaphragm and mediastinum structures as well as the tumor location landmarks (0.8 +/- 0.18 and 0.72 +/- 0.12 for the abdominal and the thoracic regions, respectively). Worse correlation was observed when one considered landmarks not significantly influenced by respiratory motion such as the apex and the sternum.

CONCLUSIONS

There were large differences in the motion correlation observed considering different regions of interest placed over a patients' external surface and internal anatomical landmarks. The positioning of current devices used for respiratory motion synchronization may reduce such correlation by averaging the motion over correlated and poorly correlated external regions. The potential of capturing in real-time the motion of the complete external patient surface as well as choosing the area of the surface that correlates best with the internal motion should allow reducing such variability and associated errors in both respiratory motion synchronization and subsequent motion modeling processes.

High-performance GPU-based rendering for real-time, rigid 2D/3D-image registration and motion prediction in radiation oncology

A common problem in image-guided radiation therapy (IGRT) of lung cancer as well as other malignant diseases is the compensation of periodic and aperiodic motion during dose delivery. Modern systems for image-guided radiation oncology allow for the acquisition of cone-beam computed tomography data in the treatment room as well as the acquisition of planar radiographs during the treatment. A mid-term research goal is the compensation of tumor target volume motion by 2D/3D Registration. In 2D/3D registration, spatial information on organ location is derived by an iterative comparison of perspective volume renderings, so-called digitally rendered radiographs (DRR) from computed tomography volume data, and planar reference x-rays. Currently, this rendering process is very time consuming, and real-time registration, which should at least provide data on organ position in less than a second, has not come into existence. We present two GPU-based rendering algorithms which generate a DRR of 512×512 pixels size from a CT dataset of 53 MB size at a pace of almost 100 Hz. This rendering rate is feasible by applying a number of algorithmic simplifications which range from alternative volume-driven rendering approaches - namely so-called wobbled splatting - to sub-sampling of the DRR-image by means of specialized raycasting techniques. Furthermore, general purpose graphics processing unit (GPGPU) programming paradigms were consequently utilized. Rendering quality and performance as well as the influence on the quality and performance of the overall registration process were measured and analyzed in detail. The results show that both methods are competitive and pave the way for fast motion compensation by rigid and possibly even non-rigid 2D/3D registration and, beyond that, adaptive filtering of motion models in IGRT.

Individualized margins for prostate patients using a wireless localization and tracking system

This study investigates the dosimetric benefits of designing patient-specific margins for prostate cancer patients based on 4D localization and tracking. Ten prostate patients, each implanted with three radiofrequency transponders, were localized and tracked for 40 fractions. "Conventional margin" (CM) planning target volumes (PTV) and PTVs resulting from uniform margins of 5 mm (5M) and 7 mm (7M) were explored. Through retrospective review of each patient's tracking data, an individualized margin (IM) design for each patient was determined. IMRT treatment plans with identical constraints were generated for all four margin strategies and compared. The IM plans generally created the smallest PTV volumes. For similar PTV coverage, the IM plans had a lower mean bladder (rectal) dose by an average of 3.9% (2.5%), 8.5% (5.7%) and 16.2 % (9.8%) compared to 5M, 7M and CM plans, respectively. The IM plan had the lowest gEUD value of 23.8 Gy for bladder, compared to 35.1, 28.4 and 25.7, for CM, 7M and 5M, respectively. Likewise, the IM plan had the lowest NTCP value for rectum of 0.04, compared to 0.07, 0.06 and 0.05 for CM, 7M and 5M, respectively. Individualized margins can lead to significantly reduced PTV volumes and critical structure doses, while still ensuring a minimum delivered CTV dose equal to 95% of the prescribed dose.

Practical method of adaptive radiotherapy for prostate cancer using real-time electromagnetic tracking

PURPOSE

We have created an automated process using real-time tracking data to evaluate the adequacy of planning target volume (PTV) margins in prostate cancer, allowing a process of adaptive radiotherapy with minimal physician workload. We present an analysis of PTV adequacy and a proposed adaptive process.

METHODS AND MATERIALS

Tracking data were analyzed for 15 patients who underwent step-and-shoot multi-leaf collimation (SMLC) intensity-modulated radiation therapy (IMRT) with uniform 5-mm PTV margins for prostate cancer using the Calypso® Localization System. Additional plans were generated with 0- and 3-mm margins. A custom software application using the planned dose distribution and structure location from computed tomography (CT) simulation was developed to evaluate the dosimetric impact to the target due to motion. The dose delivered to the prostate was calculated for the initial three, five, and 10 fractions, and for the entire treatment. Treatment was accepted as adequate if the minimum delivered prostate dose (D(min)) was at least 98% of the planned D(min).

RESULTS

For 0-, 3-, and 5-mm PTV margins, adequate treatment was obtained in 3 of 15, 12 of 15, and 15 of 15 patients, and the delivered D(min) ranged from 78% to 99%, 96% to 100%, and 99% to 100% of the planned D(min). Changes in D(min) did not correlate with magnitude of prostate motion. Treatment adequacy during the first 10 fractions predicted sufficient dose delivery for the entire treatment for all patients and margins.

CONCLUSIONS

Our adaptive process successfully used real-time tracking data to predict the need for PTV modifications, without the added burden of physician contouring and image analysis. Our methods are applicable to other uses of real-time tracking, including hypofractionated treatment.

Synchronized tumour tracking with electromagnetic transponders and kV x-ray imaging: evaluation based on a thorax phantom

Intrafractional organ motion remains a source of error in conformal radiotherapy of dynamic targets such as tumours of the lung or of the prostate. The purpose of this work was to devise a method for the continuous and routine measurement of intrafractional organ motion. The method consists of a combination of an electromagnetic (EM), internal marker-based tracking system with the on-board kilovoltage x-ray imaging system of a modern treatment machine. The EM system continuously tracks the target, while x-ray images can be acquired simultaneously if demand arises. An image processing algorithm has been developed to automatically localize and track the EM markers in the x-ray images. We have demonstrated simultaneous target tracking using the EM system and x-ray imaging of a mobile target inside a programmable thorax phantom. The target motion was very well reproduced by both systems. The comparability of the target locations reported by both systems was established (better than 0.25 mm up to target velocities of 3 cm s(-1)). One immediate use of the synchronized system was shown: the generation of a 4D cone beam computed tomography data set using the EM system for the measurement of motion. In conclusion, we have developed a system for the routine measurement of intrafractional motion that continuously provides the 3D position of the target with the ability to acquire images of the treatment field only when needed, thereby eliminating avoidable imaging dose to the patient.