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Becksfort J, Uh J, Saunders A, Byrd JA, Worrall HM, Marker M, Melendez-Suchi C, Li Y, Chang J, Raghavan K, Merchant TE, Hua CH. Setup Uncertainty of Pediatric Brain Tumor Patients Receiving Proton Therapy: A Prospective Study. Cancers (Basel) 2023; 15:5486. [PMID: 38001746 PMCID: PMC10670653 DOI: 10.3390/cancers15225486] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/07/2023] [Revised: 11/11/2023] [Accepted: 11/13/2023] [Indexed: 11/26/2023] Open
Abstract
This study quantifies setup uncertainty in brain tumor patients who received image-guided proton therapy. Patients analyzed include 165 children, adolescents, and young adults (median age at radiotherapy: 9 years (range: 10 months to 24 years); 80 anesthetized and 85 awake) enrolled in a single-institution prospective study from 2020 to 2023. Cone-beam computed tomography (CBCT) was performed daily to calculate and correct manual setup errors, once per course after setup correction to measure residual errors, and weekly after treatments to assess intrafractional motion. Orthogonal radiographs were acquired consecutively with CBCT for paired comparisons of 40 patients. Translational and rotational errors were converted from 6 degrees of freedom to a scalar by a statistical approach that considers the distance from the target to the isocenter. The 95th percentile of setup uncertainty was reduced by daily CBCT from 10 mm (manual positioning) to 1-1.5 mm (after correction) and increased to 2 mm by the end of fractional treatment. A larger variation existed between the roll corrections reported by radiographs vs. CBCT than for pitch and yaw, while there was no statistically significant difference in translational variation. A quantile mixed regression model showed that the 95th percentile of intrafractional motion was 0.40 mm lower for anesthetized patients (p=0.0016). Considering additional uncertainty in radiation-imaging isocentricity, the commonly used total plan robustness of 3 mm against positional uncertainty would be appropriate for our study cohort.
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Affiliation(s)
- Jared Becksfort
- Department of Radiation Oncology, St. Jude Children’s Research Hospital, Memphis, TN 38105, USA; (J.U.); (J.A.B.); (H.M.W.); (T.E.M.); (C.-h.H.)
| | - Jinsoo Uh
- Department of Radiation Oncology, St. Jude Children’s Research Hospital, Memphis, TN 38105, USA; (J.U.); (J.A.B.); (H.M.W.); (T.E.M.); (C.-h.H.)
| | - Andrew Saunders
- Department of Radiation Oncology, St. Jude Children’s Research Hospital, Memphis, TN 38105, USA; (J.U.); (J.A.B.); (H.M.W.); (T.E.M.); (C.-h.H.)
| | - Julia A. Byrd
- Department of Radiation Oncology, St. Jude Children’s Research Hospital, Memphis, TN 38105, USA; (J.U.); (J.A.B.); (H.M.W.); (T.E.M.); (C.-h.H.)
| | - Hannah M. Worrall
- Department of Radiation Oncology, St. Jude Children’s Research Hospital, Memphis, TN 38105, USA; (J.U.); (J.A.B.); (H.M.W.); (T.E.M.); (C.-h.H.)
| | - Matt Marker
- Department of Radiation Oncology, St. Jude Children’s Research Hospital, Memphis, TN 38105, USA; (J.U.); (J.A.B.); (H.M.W.); (T.E.M.); (C.-h.H.)
| | - Christian Melendez-Suchi
- Department of Radiation Oncology, St. Jude Children’s Research Hospital, Memphis, TN 38105, USA; (J.U.); (J.A.B.); (H.M.W.); (T.E.M.); (C.-h.H.)
| | - Yimei Li
- Department of Biostatistics, St. Jude Children’s Research Hospital, Memphis, TN 38105, USA
| | - Jenghwa Chang
- Department of Radiation Medicine, Donald and Barbara Zucker School of Medicine at Hofstra/Northwell, Hempstead, NY 11549, USA
| | - Kavitha Raghavan
- Department of Pediatric Medicine, St. Jude Children’s Research Hospital, Memphis, TN 38105, USA;
| | - Thomas E. Merchant
- Department of Radiation Oncology, St. Jude Children’s Research Hospital, Memphis, TN 38105, USA; (J.U.); (J.A.B.); (H.M.W.); (T.E.M.); (C.-h.H.)
| | - Chia-ho Hua
- Department of Radiation Oncology, St. Jude Children’s Research Hospital, Memphis, TN 38105, USA; (J.U.); (J.A.B.); (H.M.W.); (T.E.M.); (C.-h.H.)
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Chang S, Liu G, Zhao L, Zheng W, Yan D, Chen P, Li X, Deraniyagala R, Stevens C, Grills I, Chinnaiyan P, Li X, Ding X. Introduce a rotational robust optimization framework for spot-scanning proton arc (SPArc) therapy. Phys Med Biol 2022; 68. [PMID: 36546347 DOI: 10.1088/1361-6560/aca874] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/01/2022] [Accepted: 12/02/2022] [Indexed: 12/03/2022]
Abstract
Objective. Proton dosimetric uncertainties resulting from the patient's daily setup errors in rotational directions exist even with advanced image-guided radiotherapy techniques. Thus, we developed a new rotational robust optimization SPArc algorithm (SPArcrot) to mitigate the dosimetric impact of the rotational setup error in Raystation ver. 6.02 (RaySearch Laboratory AB, Stockholm, Sweden).Approach.The initial planning CT was rotated ±5° simulating the worst-case setup error in the roll direction. The SPArcrotuses a multi-CT robust optimization framework by taking into account of such rotational setup errors. Five cases representing different disease sites were evaluated. Both SPArcoriginaland SPArcrotplans were generated using the same translational robust optimized parameters. To quantitatively investigate the mitigation effect from the rotational setup errors, all plans were recalculated using a series of pseudo-CT with rotational setup error (±1°/±2°/±3°/±5°). Dosimetric metrics such as D98% of CTV, and 3D gamma analysis were used to assess the dose distribution changes in the target and OARs.Main results.The magnitudes of dosimetric changes in the targets due to rotational setup error were significantly reduced by the SPArcrotcompared to SPArc in all cases. The uncertainties of the max dose to the OARs, such as brainstem, spinal cord and esophagus were significantly reduced using SPArcrot. The uncertainties of the mean dose to the OARs such as liver and oral cavity, parotid were comparable between the two planning techniques. The gamma passing rate (3%/3 mm) was significantly improved for CTV of all tumor sites through SPArcrot.Significance.Rotational setup error is one of the major issues which could lead to significant dose perturbations. SPArcrotplanning approach can consider such rotational error from patient setup or gantry rotation error by effectively mitigating the dose uncertainties to the target and in the adjunct series OARs.
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Affiliation(s)
- Sheng Chang
- Department of Radiation Oncology, Wuhan University, Renmin Hospital, Wuhan, 430060 Hubei Province, People's Republic of China.,Department of Radiation Oncology, Corewell Health William Beaumont University Hospital, Royal Oak, MI 48074, United States of America
| | - Gang Liu
- Department of Radiation Oncology, Corewell Health William Beaumont University Hospital, Royal Oak, MI 48074, United States of America.,Cancer Center, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan 430023, People's Republic of China
| | - Lewei Zhao
- Department of Radiation Oncology, Corewell Health William Beaumont University Hospital, Royal Oak, MI 48074, United States of America
| | - Weili Zheng
- Department of Radiation Oncology, Corewell Health William Beaumont University Hospital, Royal Oak, MI 48074, United States of America
| | - Di Yan
- Department of Radiation Oncology, Corewell Health William Beaumont University Hospital, Royal Oak, MI 48074, United States of America
| | - Peter Chen
- Department of Radiation Oncology, Corewell Health William Beaumont University Hospital, Royal Oak, MI 48074, United States of America
| | - Xiangpan Li
- Department of Radiation Oncology, Wuhan University, Renmin Hospital, Wuhan, 430060 Hubei Province, People's Republic of China
| | - Rohan Deraniyagala
- Department of Radiation Oncology, Corewell Health William Beaumont University Hospital, Royal Oak, MI 48074, United States of America
| | - Craig Stevens
- Department of Radiation Oncology, Corewell Health William Beaumont University Hospital, Royal Oak, MI 48074, United States of America
| | - Inga Grills
- Department of Radiation Oncology, Corewell Health William Beaumont University Hospital, Royal Oak, MI 48074, United States of America
| | - Prakash Chinnaiyan
- Department of Radiation Oncology, Corewell Health William Beaumont University Hospital, Royal Oak, MI 48074, United States of America
| | - Xiaoqiang Li
- Department of Radiation Oncology, Corewell Health William Beaumont University Hospital, Royal Oak, MI 48074, United States of America
| | - Xuanfeng Ding
- Department of Radiation Oncology, Corewell Health William Beaumont University Hospital, Royal Oak, MI 48074, United States of America
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Sarkar B, Manikandan A, Munshi A, Krishnankutty S, Ganesh T, Mohanti B, Manikandan S, Anirudh P, Chandrasekharan S. Calculation of set-up margin in frameless stereotactic radiotherapy accounting for translational and rotational patient positing error. J Cancer Res Ther 2022. [DOI: 10.4103/jcrt.jcrt_359_21] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/04/2022]
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Sarkar B, Ganesh T, Munshi A, Manikandan A, Choudhari S, Jassal K, Mohanti BK, Pradhan A. Compatibility assessment of Varian and Elekta robotic couch‐assisted six‐dimensional patient positioning correction systems with external independent imaging modalities. PRECISION RADIATION ONCOLOGY 2021. [DOI: 10.1002/pro6.1136] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022] Open
Affiliation(s)
- Biplab Sarkar
- Department of Radiation Oncology, Apollo Multispeciality Hospitals Kolkata West Bengal India
- GLA University Mathura Uttar Pradesh India
| | | | - Anusheel Munshi
- Department of Radiation Oncology, Manipal Hospitals New Delhi India
| | | | | | - Kanan Jassal
- Department of Radiation Oncology, Fortis Memorial Research Institute Gurugram Haryana India
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Bryce-Atkinson A, de Jong R, Bel A, Aznar MC, Whitfield G, van Herk M. Evaluation of Ultra-low-dose Paediatric Cone-beam Computed Tomography for Image-guided Radiotherapy. Clin Oncol (R Coll Radiol) 2020; 32:835-844. [PMID: 33067079 DOI: 10.1016/j.clon.2020.09.011] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/23/2020] [Revised: 09/11/2020] [Accepted: 09/29/2020] [Indexed: 01/01/2023]
Abstract
AIMS In image-guided radiotherapy, daily cone-beam computed tomography (CBCT) is rarely applied to children due to concerns over imaging dose. Simulating low-dose CBCT can aid clinical protocol design by allowing visualisation of new scan protocols in patients without delivering additional dose. This work simulated ultra-low-dose CBCT and evaluated its use for paediatric image-guided radiotherapy by assessment of image registration accuracy and visual image quality. MATERIALS AND METHODS Ultra-low-dose CBCT was simulated by adding the appropriate amount of noise to projection images prior to reconstruction. This simulation was validated in phantoms before application to paediatric patient data. Scans from 20 patients acquired at our current clinical protocol (0.8 mGy) were simulated for a range of ultra-low doses (0.5, 0.4, 0.2 and 0.125 mGy) creating 100 scans in total. Automatic registration accuracy was assessed in all 100 scans. Inter-observer registration variation was next assessed for a subset of 40 scans (five scans at each simulated dose and 20 scans at the current clinical protocol). This subset was assessed for visual image quality by Likert scale grading of registration performance and visibility of target coverage, organs at risk, soft-tissue structures and bony anatomy. RESULTS Simulated and acquired phantom scans were in excellent agreement. For patient scans, bony atomy registration discrepancies for ultra-low-dose scans fell within 2 mm (translation) and 1° (rotation) compared with the current clinical protocol, with excellent inter-observer agreement. Soft-tissue registration showed large discrepancies. Bone visualisation and registration performance reached over 75% acceptability (rated 'well' or 'very well') down to the lowest doses. Soft-tissue visualisation did not reach this threshold for any dose. CONCLUSION Ultra-low-dose CBCT was accurately simulated and evaluated in patient data. Patient scans simulated down to 0.125 mGy were appropriate for bony anatomy set-up. The large dose reduction could allow for more frequent (e.g. daily) image guidance and, hence, more accurate set-up for paediatric radiotherapy.
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Affiliation(s)
- A Bryce-Atkinson
- Division of Cancer Sciences, School of Medical Sciences, Faculty of Biology, Medicine and Health, The University of Manchester, Manchester, UK.
| | - R de Jong
- Department of Radiation Oncology, Amsterdam University Medical Center, University of Amsterdam, Amsterdam, the Netherlands
| | - A Bel
- Department of Radiation Oncology, Amsterdam University Medical Center, University of Amsterdam, Amsterdam, the Netherlands
| | - M C Aznar
- Division of Cancer Sciences, School of Medical Sciences, Faculty of Biology, Medicine and Health, The University of Manchester, Manchester, UK; Clinical Trial Service Unit, Nuffield Department of Population Health, University of Oxford, Oxford, UK
| | - G Whitfield
- Manchester Academic Health Science Centre, The Christie NHS Foundation Trust, Manchester, UK; The Children's Brain Tumour Research Network, The University of Manchester, Royal Manchester Children's Hospital, Manchester, UK
| | - M van Herk
- Division of Cancer Sciences, School of Medical Sciences, Faculty of Biology, Medicine and Health, The University of Manchester, Manchester, UK
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Duan X, Zhou Y, Dai H, Zhao L, Qian J, Yang D, Zhang L, Luo C, Li G. Evaluating the positional uncertainty of intrafraction, adjacent fields, and daily setup with the BrainLAB ExacTrac system in patients who are receiving craniospinal irradiation. J Appl Clin Med Phys 2020; 21:35-46. [PMID: 32491280 PMCID: PMC7484826 DOI: 10.1002/acm2.12909] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/18/2019] [Revised: 03/27/2020] [Accepted: 04/21/2020] [Indexed: 11/21/2022] Open
Abstract
Purpose To investigate the daily setup, interfraction motion, variability in the junction areas, and dosimetric effect in craniospinal irradiation (CSI) patients. Methods Fifteen CSI patients who had undergone split‐field IMRT were followed in the study. Previous, middle, and posttreatment, each target volume position was evaluated using the ExacTrac system. Interfraction and intrafraction motions, the margin of the junction in adjacent targets volumes, and the dosimetric effect of the longitudinal residual error were analyzed. Results The lowest attainment rate within the tolerance of the initial setup error was 66.79% in six directions. The values of the initial error were within 15 mm (SD 4.5 mm) in the translation direction and 5° (SD 1.3°) in the rotation direction after the transposition of the treatment isocenter. With the guidance of the ExacTrac system, the interfraction and intrafraction residual errors were almost within the tolerance after correction, the margin of CTV‐to‐PCTV was in the range of target expansion criteria. The residual longitudinal errors resulted in only slight changes in the mean doses of PGTV and PCTV, while the maximum dose of the spinal cord increased by 16.1%. The patients did not exhibit any side‐effects by the overall treatment during the follow‐up period. Conclusions Position correction is necessary after setup and the transposition of the treatment isocenter. Intra‐fraction motion in the lateral direction should be monitored throughout treatment. The position errors in junction areas are almost within the tolerance after correction. The patients did not exhibit any side‐effects by the overall treatment.
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Affiliation(s)
- Xiaojuan Duan
- Institute of Cancer ResearchXinqiao HospitalARMY Medical UniversityChongqingChina
| | - Yibing Zhou
- Institute of Cancer ResearchXinqiao HospitalARMY Medical UniversityChongqingChina
| | - Hongya Dai
- Institute of Cancer ResearchXinqiao HospitalARMY Medical UniversityChongqingChina
| | - Lirong Zhao
- Institute of Cancer ResearchXinqiao HospitalARMY Medical UniversityChongqingChina
| | - Jindong Qian
- Institute of Cancer ResearchXinqiao HospitalARMY Medical UniversityChongqingChina
| | - Dingqiang Yang
- Institute of Cancer ResearchXinqiao HospitalARMY Medical UniversityChongqingChina
| | - Liwei Zhang
- Institute of Cancer ResearchXinqiao HospitalARMY Medical UniversityChongqingChina
| | - Can Luo
- Institute of Cancer ResearchXinqiao HospitalARMY Medical UniversityChongqingChina
| | - Guanghui Li
- Institute of Cancer ResearchXinqiao HospitalARMY Medical UniversityChongqingChina
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Lavan NA, Saran FH, Oelfke U, Mandeville HC. Adopting Advanced Radiotherapy Techniques in the Treatment of Paediatric Extracranial Malignancies: Challenges and Future Directions. Clin Oncol (R Coll Radiol) 2019; 31:50-57. [PMID: 30361128 DOI: 10.1016/j.clon.2018.08.020] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.4] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/25/2018] [Accepted: 08/01/2018] [Indexed: 12/25/2022]
Abstract
Geometric uncertainties in radiotherapy are conventionally addressed by defining a safety margin around the radiotherapy target. Misappropriation of such margins could result in disease recurrence from geometric miss or unnecessary irradiation of normal tissue. Numerous quantitative organ motion studies in adults have been published, but the first paediatric-specific studies were only published in recent years. In the very near future, intensity-modulated proton beam therapy and magnetic resonance-guided radiotherapy will be clinically implemented in the UK. Such techniques offer the ability to deliver radiotherapy to the pinnacle of precision and accuracy, if geometric uncertainty relating to internal organ motion and deformation can be optimally managed. The optimal margin to account for internal organ motion in children remains largely undefined. Continuing efforts to characterise motion in children and young people is necessary to optimally define safety margins and to realise the full potential of intensity-modulated radiotherapy, magnetic resonance-guided radiotherapy and intensity-modulated proton beam therapy. This overview offers a timely review of published reports on paediatric organ motion, in anticipation of the increasing application of advanced radiotherapy techniques in paediatric radiotherapy.
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Affiliation(s)
- N A Lavan
- The Institute of Cancer Research, Sutton, UK.
| | - F H Saran
- The Royal Marsden NHS Foundation Trust, Sutton, UK
| | - U Oelfke
- Joint Department of Physics at the Institute of Cancer Research and the Royal Marsden NHS Foundation Trust, Sutton, UK
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Sarkar B, Ray J, Ganesh T, Manikandan A, Munshi A, Rathinamuthu S, Kaur H, Anbazhagan S, Giri UK, Roy S, Jassal K, Mohanti BK. Methodology to reduce 6D patient positional shifts into a 3D linear shift and its verification in frameless stereotactic radiotherapy. ACTA ACUST UNITED AC 2018; 63:075004. [DOI: 10.1088/1361-6560/aab231] [Citation(s) in RCA: 10] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/12/2022]
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Belcher AH, Liu X, Chmura S, Yenice K, Wiersma RD. Towards frameless maskless SRS through real-time 6DoF robotic motion compensation. Phys Med Biol 2017; 62:9054-9066. [PMID: 29131807 DOI: 10.1088/1361-6560/aa93d2] [Citation(s) in RCA: 5] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/12/2022]
Abstract
Stereotactic radiosurgery (SRS) uses precise dose placement to treat conditions of the CNS. Frame-based SRS uses a metal head ring fixed to the patient's skull to provide high treatment accuracy, but patient comfort and clinical workflow may suffer. Frameless SRS, while potentially more convenient, may increase uncertainty of treatment accuracy and be physiologically confining to some patients. By incorporating highly precise robotics and advanced software algorithms into frameless treatments, we present a novel frameless and maskless SRS system where a robot provides real-time 6DoF head motion stabilization allowing positional accuracies to match or exceed those of traditional frame-based SRS. A 6DoF parallel kinematics robot was developed and integrated with a real-time infrared camera in a closed loop configuration. A novel compensation algorithm was developed based on an iterative closest-path correction approach. The robotic SRS system was tested on six volunteers, whose motion was monitored and compensated for in real-time over 15 min simulated treatments. The system's effectiveness in maintaining the target's 6DoF position within preset thresholds was determined by comparing volunteer head motion with and without compensation. Comparing corrected and uncorrected motion, the 6DoF robotic system showed an overall improvement factor of 21 in terms of maintaining target position within 0.5 mm and 0.5 degree thresholds. Although the system's effectiveness varied among the volunteers examined, for all volunteers tested the target position remained within the preset tolerances 99.0% of the time when robotic stabilization was used, compared to 4.7% without robotic stabilization. The pre-clinical robotic SRS compensation system was found to be effective at responding to sub-millimeter and sub-degree cranial motions for all volunteers examined. The system's success with volunteers has demonstrated its capability for implementation with frameless and maskless SRS treatments, potentially able to achieve the same or better treatment accuracies compared to traditional frame-based approaches.
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Affiliation(s)
- Andrew H Belcher
- Department of Radiation and Cellular Oncology, The University of Chicago, Chicago, IL 60637-1470, United States of America
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Belcher AH, Liu X, Grelewicz Z, Wiersma RD. Spatial and rotational quality assurance of 6DOF patient tracking systems. Med Phys 2017; 43:2785-2793. [PMID: 27277026 DOI: 10.1118/1.4948506] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022] Open
Abstract
PURPOSE External tracking systems used for patient positioning and motion monitoring during radiotherapy are now capable of detecting both translations and rotations. In this work, the authors develop a novel technique to evaluate the 6 degree of freedom 6(DOF) (translations and rotations) performance of external motion tracking systems. The authors apply this methodology to an infrared marker tracking system and two 3D optical surface mapping systems in a common tumor 6DOF workspace. METHODS An in-house designed and built 6DOF parallel kinematics robotic motion phantom was used to perform motions with sub-millimeter and subdegree accuracy in a 6DOF workspace. An infrared marker tracking system was first used to validate a calibration algorithm which associates the motion phantom coordinate frame to the camera frame. The 6DOF positions of the mobile robotic system in this space were then tracked and recorded independently by an optical surface tracking system after a cranial phantom was rigidly fixed to the moveable platform of the robotic stage. The calibration methodology was first employed, followed by a comprehensive 6DOF trajectory evaluation, which spanned a full range of positions and orientations in a 20 × 20 × 16 mm and 5° × 5° × 5° workspace. The intended input motions were compared to the calibrated 6DOF measured points. RESULTS The technique found the accuracy of the infrared (IR) marker tracking system to have maximal root-mean square error (RMSE) values of 0.18, 0.25, 0.07 mm, 0.05°, 0.05°, and 0.09° in left-right (LR), superior-inferior (SI), anterior-posterior (AP), pitch, roll, and yaw, respectively, comparing the intended 6DOF position and the measured position by the IR camera. Similarly, the 6DOF RSME discrepancy for the HD optical surface tracker yielded maximal values of 0.46, 0.60, 0.54 mm, 0.06°, 0.11°, and 0.08° in LR, SI, AP, pitch, roll, and yaw, respectively, over the same 6DOF evaluative workspace. An earlier generation 3D optical surface tracking unit was observed to have worse tracking capabilities than both the IR camera unit and the newer 3D surface tracking system with maximal RMSE of 0.69, 0.74, 0.47 mm, 0.28°, 0.19°, and 0.18°, in LR, SI, AP, pitch, roll, and yaw, respectively, in the same 6DOF evaluation space. CONCLUSIONS The proposed technique was found to be effective at evaluating the performance of 6DOF patient tracking systems. All observed optical tracking systems were found to exhibit tracking capabilities at the sub-millimeter and subdegree level within a 6DOF workspace.
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Affiliation(s)
- Andrew H Belcher
- Department of Radiation and Cellular Oncology, The University of Chicago, Chicago, Illinois 60637-1470
| | - Xinmin Liu
- Department of Radiation and Cellular Oncology, The University of Chicago, Chicago, Illinois 60637-1470
| | - Zachary Grelewicz
- Department of Radiation and Cellular Oncology, The University of Chicago, Chicago, Illinois 60637-1470
| | - Rodney D Wiersma
- Department of Radiation and Cellular Oncology, The University of Chicago, Chicago, Illinois 60637-1470
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Belcher AH, Liu X, Grelewicz Z, Pearson E, Wiersma RD. Development of a 6DOF robotic motion phantom for radiation therapy. Med Phys 2015; 41:121704. [PMID: 25471951 DOI: 10.1118/1.4900828] [Citation(s) in RCA: 16] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022] Open
Abstract
PURPOSE The use of medical technology capable of tracking patient motion or positioning patients along 6 degree-of-freedom (6DOF) has steadily increased in the field of radiation therapy. However, due to the complex nature of tracking and performing 6DOF motion, it is critical that such technology is properly verified to be operating within specifications in order to ensure patient safety. In this study, a robotic motion phantom is presented that can be programmed to perform highly accurate motion along any X (left-right), Y (superior-inferior), Z (anterior-posterior), pitch (around X), roll (around Y), and yaw (around Z) axes. In addition, highly synchronized motion along all axes can be performed in order to simulate the dynamic motion of a tumor in 6D. The accuracy and reproducibility of this 6D motion were characterized. METHODS An in-house designed and built 6D robotic motion phantom was constructed following the Stewart-Gough parallel kinematics platform archetype. The device was controlled using an inverse kinematics formulation, and precise movements in all 6 degrees-of-freedom (X, Y, Z, pitch, roll, and yaw) were performed, both simultaneously and separately for each degree-of-freedom. Additionally, previously recorded 6D cranial and prostate motions were effectively executed. The robotic phantom movements were verified using a 15 fps 6D infrared marker tracking system and the measured trajectories were compared quantitatively to the intended input trajectories. The workspace, maximum 6D velocity, backlash, and weight load capabilities of the system were also established. RESULTS Evaluation of the 6D platform demonstrated translational root mean square error (RMSE) values of 0.14, 0.22, and 0.08 mm over 20 mm in X and Y and 10 mm in Z, respectively, and rotational RMSE values of 0.16°, 0.06°, and 0.08° over 10° of pitch, roll, and yaw, respectively. The robotic stage also effectively performed controlled 6D motions, as well as reproduced cranial trajectories over 15 min, with a maximal RMSE of 0.04 mm translationally and 0.04° rotationally, and a prostate trajectory over 2 min, with a maximal RMSE of 0.06 mm translationally and 0.04° rotationally. CONCLUSIONS This 6D robotic phantom has proven to be accurate under clinical standards and capable of reproducing tumor motion in 6D. Such functionality makes the robotic phantom usable for either quality assurance or research purposes.
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Affiliation(s)
- Andrew H Belcher
- Department of Radiation and Cellular Oncology, The University of Chicago, Chicago, Illinois 60637-1470
| | - Xinmin Liu
- Department of Radiation and Cellular Oncology, The University of Chicago, Chicago, Illinois 60637-1470
| | - Zachary Grelewicz
- Department of Radiation and Cellular Oncology, The University of Chicago, Chicago, Illinois 60637-1470
| | - Erik Pearson
- Department of Radiation and Cellular Oncology, The University of Chicago, Chicago, Illinois 60637-1470
| | - Rodney D Wiersma
- Department of Radiation and Cellular Oncology, The University of Chicago, Chicago, Illinois 60637-1470
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Liu X, Belcher AH, Grelewicz Z, Wiersma RD. Robotic real-time translational and rotational head motion correction during frameless stereotactic radiosurgery. Med Phys 2015; 42:2757-63. [PMID: 26127028 DOI: 10.1118/1.4919279] [Citation(s) in RCA: 5] [Impact Index Per Article: 0.6] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/05/2023] Open
Abstract
PURPOSE To develop a control system to correct both translational and rotational head motion deviations in real-time during frameless stereotactic radiosurgery (SRS). METHODS A novel feedback control with a feed-forward algorithm was utilized to correct for the coupling of translation and rotation present in serial kinematic robotic systems. Input parameters for the algorithm include the real-time 6DOF target position, the frame pitch pivot point to target distance constant, and the translational and angular Linac beam off (gating) tolerance constants for patient safety. Testing of the algorithm was done using a 4D (XY Z + pitch) robotic stage, an infrared head position sensing unit and a control computer. The measured head position signal was processed and a resulting command was sent to the interface of a four-axis motor controller, through which four stepper motors were driven to perform motion compensation. RESULTS The control of the translation of a brain target was decoupled with the control of the rotation. For a phantom study, the corrected position was within a translational displacement of 0.35 mm and a pitch displacement of 0.15° 100% of the time. For a volunteer study, the corrected position was within displacements of 0.4 mm and 0.2° over 98.5% of the time, while it was 10.7% without correction. CONCLUSIONS The authors report a control design approach for both translational and rotational head motion correction. The experiments demonstrated that control performance of the 4D robotic stage meets the submillimeter and subdegree accuracy required by SRS.
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Affiliation(s)
- Xinmin Liu
- Department of Radiation and Cellular Oncology, The University of Chicago, Chicago, Illinois 60637
| | - Andrew H Belcher
- Department of Radiation and Cellular Oncology, The University of Chicago, Chicago, Illinois 60637
| | - Zachary Grelewicz
- Department of Radiation and Cellular Oncology, The University of Chicago, Chicago, Illinois 60637
| | - Rodney D Wiersma
- Department of Radiation and Cellular Oncology, The University of Chicago, Chicago, Illinois 60637
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Schmidhalter D, Malthaner M, Born EJ, Pica A, Schmuecking M, Aebersold DM, Fix MK, Manser P. Assessment of patient setup errors in IGRT in combination with a six degrees of freedom couch. Z Med Phys 2014; 24:112-22. [DOI: 10.1016/j.zemedi.2013.11.002] [Citation(s) in RCA: 19] [Impact Index Per Article: 1.9] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/12/2013] [Revised: 09/20/2013] [Accepted: 11/27/2013] [Indexed: 10/25/2022]
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Altunbas C, Hankinson TC, Miften M, Tello T, Plimpton SR, Stuhr K, Liu AK. Rotational setup errors in pediatric stereotactic radiation therapy. Pract Radiat Oncol 2014; 3:194-198. [PMID: 24674364 DOI: 10.1016/j.prro.2012.08.003] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/30/2012] [Revised: 08/20/2012] [Accepted: 08/20/2012] [Indexed: 11/28/2022]
Abstract
PURPOSE Stereotactic radiation therapy (SRT) is an increasingly commonly used technique in children. The use of image guidance increases the ability to accurately position patients. With our robotic couch, rotational errors that can be corrected are limited to approximately 3 degrees. Given this limitation, we reviewed the rotational setup errors in our pediatric brain tumor population. METHODS AND MATERIALS We reviewed the rotational corrections for all pediatric (age ≤21 years old) patients treated at our facility from 2009 to 2011. We compared children <5 years old treated to children between 5 and 21 years old (≥5 years old). Also, we analyzed the effect of steroid use and trends in rotational errors over the treatment period in each age group. RESULTS The mean pitch, roll, and yaw rotational setup errors for younger children are -0.70 ± 2.60 degrees, -0.06 ± 1.89 degrees, and 0.69 ± 2.42 degrees, respectively; for children ≥5 years old, they are 0.46 ± 2.09 degrees, -0.06 ± 1.89 degrees, and 0.69 ± 2.42 degrees, respectively. The mean pitch corrections are larger for children <5 years old (P < .001) and the variance of the pitch, roll, and yaw corrections are all larger for children <5 years old (P < .001). The frequency of rotational errors above 3 degrees for pitch, roll, and yaw is 21.7%, 10.6%, and 20.9% for children <5 years old, and 15.6%, 2.1%, and 13.8% for children ≥5 years old. In both age groups, pitch and roll corrections were larger for children treated with steroids. CONCLUSIONS Rotational errors in our pediatric population occur more frequently than previously reported, and are more common in younger children and in children treated with steroids. These rotational set up errors may not be fully correctable due to mechanical and safety limitations. We have altered our planning and treatment process to better account for rotational errors in children receiving SRT.
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Affiliation(s)
- Cem Altunbas
- Department of Radiation Oncology, University of Colorado School of Medicine, Aurora, Colorado.
| | - Todd C Hankinson
- Department of Neurosurgery, Children's Hospital Colorado, Aurora, Colorado
| | - Moyed Miften
- Department of Radiation Oncology, University of Colorado School of Medicine, Aurora, Colorado
| | - Tiffany Tello
- Department of Radiation Oncology, University of Colorado School of Medicine, Aurora, Colorado
| | - Steven R Plimpton
- Department of Radiation Oncology, University of Colorado School of Medicine, Aurora, Colorado
| | - Kelly Stuhr
- Department of Radiation Oncology, University of Colorado Hospital, Aurora, Colorado
| | - Arthur K Liu
- Department of Radiation Oncology, University of Colorado School of Medicine, Aurora, Colorado
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Teng K, Gagliardi F, Alqathami M, Ackerly T, Geso M. Dose variations caused by setup errors in intracranial stereotactic radiotherapy: A PRESAGE study. Med Dosim 2014; 39:292-9. [DOI: 10.1016/j.meddos.2014.04.005] [Citation(s) in RCA: 5] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/19/2013] [Revised: 03/24/2014] [Accepted: 04/07/2014] [Indexed: 10/25/2022]
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Rosenfelder NA, Corsini L, McNair H, Pennert K, Aitken A, Lamb CM, Long M, Clarke E, Murcia M, Schick U, Burke K, Ashley S, Khoo, V, Brada M. Comparison of setup accuracy and intrafraction motion using stereotactic frame versus 3-point thermoplastic mask-based immobilization for fractionated cranial image guided radiation therapy. Pract Radiat Oncol 2013; 3:171-179. [DOI: 10.1016/j.prro.2012.06.004] [Citation(s) in RCA: 12] [Impact Index Per Article: 1.1] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/15/2012] [Revised: 06/07/2012] [Accepted: 06/11/2012] [Indexed: 11/24/2022]
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Haertl PM, Loeschel R, Repp N, Pohl F, Koelbl O, Dobler B. Frameless fractionated stereotactic radiation therapy of intracranial lesions: impact of cone beam CT based setup correction on dose distribution. Radiat Oncol 2013; 8:153. [PMID: 23800172 PMCID: PMC3707816 DOI: 10.1186/1748-717x-8-153] [Citation(s) in RCA: 8] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/23/2012] [Accepted: 05/26/2013] [Indexed: 11/29/2022] Open
Abstract
Background The purpose of this study was to evaluate the impact of Cone Beam CT (CBCT) based setup correction on total dose distributions in fractionated frameless stereotactic radiation therapy of intracranial lesions. Methods Ten patients with intracranial lesions treated with 30 Gy in 6 fractions were included in this study. Treatment planning was performed with Oncentra® for a SynergyS® (Elekta Ltd, Crawley, UK) linear accelerator with XVI® Cone Beam CT, and HexaPOD™ couch top. Patients were immobilized by thermoplastic masks (BrainLab, Reuther). After initial patient setup with respect to lasers, a CBCT study was acquired and registered to the planning CT (PL-CT) study. Patient positioning was corrected according to the correction values (translational, rotational) calculated by the XVI® system. Afterwards a second CBCT study was acquired and registered to the PL-CT to confirm the accuracy of the corrections. An in-house developed software was used for rigid transformation of the PL-CT to the CBCT geometry, and dose calculations for each fraction were performed on the transformed CT. The total dose distribution was achieved by back-transformation and summation of the dose distributions of each fraction. Dose distributions based on PL-CT, CBCT (laser set-up), and final CBCT were compared to assess the influence of setup inaccuracies. Results The mean displacement vector, calculated over all treatments, was reduced from (4.3 ± 1.3) mm for laser based setup to (0.5 ± 0.2) mm if CBCT corrections were applied. The mean rotational errors around the medial-lateral, superior-inferior, anterior-posterior axis were reduced from (−0.1 ± 1.4)°, (0.1 ± 1.2)° and (−0.2 ± 1.0)°, to (0.04 ± 0.4)°, (0.01 ± 0.4)° and (0.02 ± 0.3)°. As a consequence the mean deviation between planned and delivered dose in the planning target volume (PTV) could be reduced from 12.3% to 0.4% for D95 and from 5.9% to 0.1% for Dav. Maximum deviation was reduced from 31.8% to 0.8% for D95, and from 20.4% to 0.1% for Dav. Conclusion Real dose distributions differ substantially from planned dose distributions, if setup is performed according to lasers only. Thermoplasic masks combined with a daily CBCT enabled a sufficient accuracy in dose distribution.
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