Leaf trajectory calculation for dynamic multileaf collimation to realize optimized fluence profiles

Some computer graphical user interfaces in radiation therapy

In this review, five graphical user interfaces (GUIs) used in radiation therapy practices and researches are introduced. They are: (1) the treatment time calculator, superficial X-ray treatment time calculator (SUPCALC) used in the superficial X-ray radiation therapy; (2) the monitor unit calculator, electron monitor unit calculator (EMUC) used in the electron radiation therapy; (3) the multileaf collimator machine file creator, sliding window intensity modulated radiotherapy (SWIMRT) used in generating fluence map for research and quality assurance in intensity modulated radiation therapy; (4) the treatment planning system, DOSCTP used in the calculation of 3D dose distribution using Monte Carlo simulation; and (5) the monitor unit calculator, photon beam monitor unit calculator (PMUC) used in photon beam radiation therapy. One common issue of these GUIs is that all user-friendly interfaces are linked to complex formulas and algorithms based on various theories, which do not have to be understood and noted by the user. In that case, user only needs to input the required information with help from graphical elements in order to produce desired results. SUPCALC is a superficial radiation treatment time calculator using the GUI technique to provide a convenient way for radiation therapist to calculate the treatment time, and keep a record for the skin cancer patient. EMUC is an electron monitor unit calculator for electron radiation therapy. Instead of doing hand calculation according to pre-determined dosimetric tables, clinical user needs only to input the required drawing of electron field in computer graphical file format, prescription dose, and beam parameters to EMUC to calculate the required monitor unit for the electron beam treatment. EMUC is based on a semi-experimental theory of sector-integration algorithm. SWIMRT is a multileaf collimator machine file creator to generate a fluence map produced by a medical linear accelerator. This machine file controls the multileaf collimator to deliver intensity modulated beams for a specific fluence map used in quality assurance or research. DOSCTP is a treatment planning system using the computed tomography images. Radiation beams (photon or electron) with different energies and field sizes produced by a linear accelerator can be placed in different positions to irradiate the tumour in the patient. DOSCTP is linked to a Monte Carlo simulation engine using the EGSnrc-based code, so that 3D dose distribution can be determined accurately for radiation therapy. Moreover, DOSCTP can be used for treatment planning of patient or small animal. PMUC is a GUI for calculation of the monitor unit based on the prescription dose of patient in photon beam radiation therapy. The calculation is based on dose corrections in changes of photon beam energy, treatment depth, field size, jaw position, beam axis, treatment distance and beam modifiers. All GUIs mentioned in this review were written either by the Microsoft Visual Basic.net or a MATLAB GUI development tool called GUIDE. In addition, all GUIs were verified and tested using measurements to ensure their accuracies were up to clinical acceptable levels for implementations.

Potential advantages of volumetric arc therapy in head and neck cancer

BACKGROUND

Intensity-modulated radiation therapy (IMRT) uses solid compensators or multileaf collimators to modulate the intensity of radiation in each field, delivering highly conformal dose distributions. This technique allows treating volumes with concave shapes when the target is close to a critical structure. The movement of multileaf collimator under computer control can modulate the dose in 3 main ways: IMRT with static field with segments, IMRT with dynamic delivery, and IMRT rotational therapy. Volumetric modulated arc therapy (VMAT) is a novel radiation technique that creates conformal distributions with variable gantry speed, dynamic movements of multileaf collimator, and variations in dose rate. The purpose of this study was to review the basis of VMAT, highlighting the differences with other IMRT techniques.

Current status of IMRT in head and neck cancer

BACKGROUND

IMRT provides highly conformal dose distributions creating non uniform spatial intensity using different segments in the beam.

MATERIAL & METHODS AND RESULTS

Different retrospective studies have shown a high capability of IMRT to treat tumours close to the base of skull. Prospective studies have shown a decrease in xerostomia compared with conventional 3D conformal treatment (3DCRT). Modulation of intensity is performed by the movement of the multileaf collimator (MLC) that can deliver the radiation in different ways, such as static field segments, dynamic field segments and rotational delivery (arc therapy and tomotherapy). There are slight differences among the different techniques in terms of homogeneity, dose conformity and treatment delivery time.

CONCLUSIONS

The best method to deliver IMRT will depend on multiple factors such as deliverability, practicality, user training and plan quality.

Quantification of the impact of MLC modeling and tissue heterogeneities on dynamic IMRT dose calculations

This study quantifies the dose prediction errors (DPEs) in dynamic IMRT dose calculations resulting from (a) use of an intensity matrix to estimate the multi-leaf collimator (MLC) modulated photon fluence (DPE(IGfluence) instead of an explicit MLC particle transport, and (b) handling of tissue heterogeneities (DPE(hetero)) by superposition/convolution (SC) and pencil beam (PB) dose calculation algorithms. Monte Carlo (MC) computed doses are used as reference standards. Eighteen head-and-neck dynamic MLC IMRT treatment plans are investigated. DPEs are evaluated via comparing the dose received by 98% of the GTV (GTV D 98%), the CTV D 95%, the nodal D 90%, the cord and the brainstem D 02%, the parotid D 50%, the parotid mean dose (D (Mean)), and generalized equivalent uniform doses (gEUDs) for the above structures. For the MC-generated intensity grids, DPE(IGfluence) is within +/- 2.1% for all targets and critical structures. The SC algorithm DPE(hetero) is within +/- 3% for 98.3% of the indices tallied, and within +/- 3.4% for all of the tallied indices. The PB algorithm DPE(hetero) is within +/- 3% for 92% of the tallied indices. Statistical equivalence tests indicate that PB DPE(hetero) requires a +/- 3.6% interval to state equivalence with the MC standard, while the intervals are < 1.5% for SC DPE(hetero) and DPE(IGfluence). Overall, these results indicate that SC and MC IMRT dose calculations which use MC-derived intensity matrices for fluence prediction do not introduce significant dose errors compared with full Monte Carlo dose computations; however, PB algorithms may result in clinically significant dose deviations.

Synchronized dynamic dose reconstruction

Variations in target volume position between and during treatment fractions can lead to measurable differences in the dose distribution delivered to each patient. Current methods to estimate the ongoing cumulative delivered dose distribution make idealized assumptions about individual patient motion based on average motions observed in a population of patients. In the delivery of intensity modulated radiation therapy (IMRT) with a multi-leaf collimator (MLC), errors are introduced in both the implementation and delivery processes. In addition, target motion and MLC motion can lead to dosimetric errors from interplay effects. All of these effects may be of clinical importance. Here we present a method to compute delivered dose distributions for each treatment beam and fraction, which explicitly incorporates synchronized real-time patient motion data and real-time fluence and machine configuration data. This synchronized dynamic dose reconstruction method properly accounts for the two primary classes of errors that arise from delivering IMRT with an MLC: (a) Interplay errors between target volume motion and MLC motion, and (b) Implementation errors, such as dropped segments, dose over/under shoot, faulty leaf motors, tongue-and-groove effect, rounded leaf ends, and communications delays. These reconstructed dose fractions can then be combined to produce high-quality determinations of the dose distribution actually received to date, from which individualized adaptive treatment strategies can be determined.

Analytic IMRT dose calculations utilizing Monte Carlo to predict MLC fluence modulation

A hybrid dose-computation method is designed which accurately accounts for multileaf collimator (MLC)-induced intensity modulation in intensity modulated radiation therapy (IMRT) dose calculations. The method employs Monte Carlo (MC) modeling to determine the fluence modulation caused by the delivery of dynamic or multisegmental (step-and-shoot) MLC fields, and a conventional dose-computation algorithm to estimate the delivered dose to a phantom or a patient. Thus, it determines the IMRT fluence prediction accuracy achievable by analytic methods in the limit that the analytic method includes all details of the MLC leaf transport and scatter. The hybrid method is validated and benchmarked by comparison with in-phantom film dose measurements, as well as dose calculations from two in-house, and two commercial treatment planning system analytic fluence estimation methods. All computation methods utilize the same dose algorithm to calculate dose to a phantom, varying only in the estimation of the MLC modulation of the incident photon energy fluence. Gamma analysis, with respect to measured two-dimensional (2D) dose planes, is used to benchmark each algorithm's performance. The analyzed fields include static and dynamic test patterns, as well as fields from ten DMLC IMRT treatment plans (79 fields) and five SMLC treatment plans (29 fields). The test fields (fully closed MLC, picket fence, sliding windows of different size, and leaf-tip profiles) cover the extremes of MLC usage during IMRT, while the patient fields represent realistic clinical conditions. Of the methods tested, the hybrid method most accurately reproduces measurements. For the hybrid method, 79 of 79 DMLC field calculations have gamma < 1 (3%/3 mm) for more than 95% of the points (per field) while for SMLC fields, 27 of 29 pass the same criteria. The analytic energy fluence estimation methods show inferior pass rates, with 76 of 79 DMLC and 24 of 29 SMLC fields having more than 95% of the test points with gamma < or = 1 (3%/3 mm). Paired one-way ANOVA tests of the gamma analysis results found that the hybrid method better predicts measurements in terms of both the fraction of points with gamma < or = 1 and the average gamma for both 2%/2 mm and 3%/3 mm criteria. These results quantify the enhancement in accuracy in IMRT dose calculations when MC is used to model the MLC field modulation.

SWIMRT: a graphical user interface using sliding window algorithm to construct a fluence map machine file

A custom‐made computer program, SWIMRT, to construct “multileaf collimator (MLC) machine” file for intensity‐modulated radiotherapy (IMRT) fluence maps was developed using MATLAB® and the sliding window algorithm. The user can either import a fluence map with a graphical file format created by an external treatment‐planning system such as Pinnacle3 or create his or her own fluence map using the matrix editor in the program. Through comprehensive calibrations of the dose and the dimension of the imported fluence field, the user can use associated image‐processing tools such as field resizing and edge trimming to modify the imported map. When the processed fluence map is suitable, a “MLC machine” file is generated for our Varian 21 EX linear accelerator with a 120‐leaf Millennium MLC. This machine file is transferred to the MLC console of the LINAC to control the continuous motions of the leaves during beam irradiation. An IMRT field is then irradiated with the 2D intensity profiles, and the irradiated profiles are compared to the imported or modified fluence map. This program was verified and tested using film dosimetry to address the following uncertainties: (1) the mechanical limitation due to the leaf width and maximum traveling speed, and (2) the dosimetric limitation due to the leaf leakage/transmission and penumbra effect. Because the fluence map can be edited, resized, and processed according to the requirement of a study, SWIMRT is essential in studying and investigating the IMRT technique using the sliding window algorithm. Using this program, future work on the algorithm may include redistributing the time space between segmental fields to enhance the fluence resolution, and readjusting the timing of each leaf during delivery to avoid small fields. Possible clinical utilities and examples for SWIMRT are given in this paper.

PACS numbers: 87.53.Kn, 87.53.St, 87.53.Uv

Simultaneous minimization of leaf travel distance and tongue-and-groove effect for segmental intensity-modulated radiation therapy

This paper introduces a method to simultaneously minimize the leaf travel distance and the tongue-and-groove effect for IMRT leaf sequences to be delivered in segmental mode. The basic idea is to add a large enough number of openings through cutting or splitting existing openings for those leaf pairs with openings fewer than the number of segments so that all leaf pairs have the same number of openings. The cutting positions are optimally determined with a simulated annealing technique called adaptive simulated annealing. The optimization goal is set to minimize the weighted summation of the leaf travel distance and tongue-and-groove effect. Its performance was evaluated with 19 beams from three clinical cases; one brain, one head-and-neck and one prostate case. The results show that it can reduce the leaf travel distance and (or) tongue-and-groove effect; the reduction of the leaf travel distance reaches its maximum of about 50% when minimized alone; the reduction of the tongue-and-groove reaches its maximum of about 70% when minimized alone. The maximum reduction in the leaf travel distance translates to a 1 to 2 min reduction in treatment delivery time per fraction, depending on leaf speed. If the method is implemented clinically, it could result in significant savings in treatment delivery time, and also result in significant reduction in the wear-and-tear of MLC mechanics.

Improving IMRT delivery efficiency using intensity limits during inverse planning

Inverse planned intensity modulated radiotherapy (IMRT) fields can be highly modulated due to the large number of degrees of freedom involved in the inverse planning process. Additional modulation typically results in a more optimal plan, although the clinical rewards may be small or offset by additional delivery complexity and/or increased dose from transmission and leakage. Increasing modulation decreases delivery efficiency, and may lead to plans that are more sensitive to geometrical uncertainties. The purpose of this work is to assess the use of maximum intensity limits in inverse IMRT planning as a simple way to increase delivery efficiency without significantly affecting plan quality. Nine clinical cases (three each for brain, prostate, and head/neck) were used to evaluate advantages and disadvantages of limiting maximum intensity to increase delivery efficiency. IMRT plans were generated using in-house protocol-based constraints and objectives for the brain and head/neck, and RTOG 9406 dose volume objectives in the prostate. Each case was optimized at a series of maximum intensity ratios (the product of the maximum intensity and the number of beams divided by the prescribed dose to the target volume), and evaluated in terms of clinical metrics, dose-volume histograms, monitor units (MU) required per fraction (SMLC and DMLC delivery), and intensity map variation (a measure of the beam modulation). In each site tested, it was possible to reduce total monitor units by constraining the maximum allowed intensity without compromising the clinical acceptability of the plan. Monitor unit reductions up to 38% were observed for SMLC delivery, while reductions up to 29% were achieved for DMLC delivery. In general, complicated geometries saw a smaller reduction in monitor units for both delivery types, although DMLC delivery required significantly more monitor units in all cases. Constraining the maximum intensity in an inverse IMRT plan is a simple way to improve delivery efficiency without compromising plan objectives.

A comparison of step-and-shoot leaf sequencing algorithms that eliminate tongue-and-groove effects

The performances of three recently published leaf sequencing algorithms for step-and-shoot intensity-modulated radiation therapy delivery that eliminates tongue-and-groove underdosage are evaluated. Proofs are given to show that the algorithm of Que et al (2004 Phys. Med. Biol. 49 399-405) generates leaf sequences free of tongue-and-groove underdosage and interdigitation. However, the total beam-on times could be up to n times those of the sequences generated by the algorithms of Kamath et al (2004 Phys. Med. Biol. 49 N7-N19), which are optimal in beam-on time for unidirectional leaf movement under the same constraints, where n is the total number of involved leaf pairs. Using 19 clinical fluence matrices and 100000 randomly generated 15 x 15 matrices, the average monitor units and number of segments of the leaf sequences generated using the algorithm of Que et al are about two to four times those generated by the algorithm of Kamath et al.

Verification of step-and-shoot IMRT delivery using a fast video-based electronic portal imaging device

We present an investigation into the use of a fast video-based electronic portal-imaging device (EPID) to study intensity modulated radiation therapy (IMRT) delivery. The aim of this study is to test the feasibility of using an EPID system to independently measure the orchestration of collimator leaf motion and beam fluence; simultaneously measuring both the delivered field fluence and shape as it exits the accelerator head during IMRT delivery. A fast EPID that consists of a terbium-doped gadolinium oxysulphide (GdO2S:Tb) scintillator coupled with an inexpensive commercial 30 frames-per-second (FPS) CCD-video recorder (16.7 ms shutter time) was employed for imaging IMRT delivery. The measurements were performed on a Varian 2100 C/D linear accelerator equipped with a 120-leaf multileaf-collimator (MLC). A characterization of the EPID was performed that included measurements of spatial resolution, linac pulse-rate dependence, linear output response, signal uniformity, and imaging artifacts. The average pixel intensity for fields imaged with the EPID was found to be linear in the delivered monitor units of static non-IMRT fields between 3x3 and 15x15 cm2. A systematic increase of the average pixel intensity was observed with increasing field size, leading to a maximum variation of 8%. Deliveries of a clinical step-and-shoot mode leaf sequence were imaged at 600 MU/min. Measurements from this IMRT delivery were compared with experimentally validated MLC controller log files and were found to agree to within 5%. An analysis of the EPID image data allowed identification of three types of errors: (1) 5 out of 35 segments were undelivered; (2) redistributing all of the delivered segment MUs; and (3) leaf movement during segment delivery. Measurements with the EPID at lower dose rates showed poor agreement with log files due to an aliasing artifact. The study was extended to use a high-speed camera (1-1000 FPS and 10 micros shutter time) with our EPID to image the same delivery to demonstrate the feasibility of imaging without aliasing artifacts. High-speed imaging was shown to be a promising direction toward validating IMRT deliveries with reasonable image resolution and noise.

Simultaneous minimizing monitor units and number of segments without leaf end abutment for segmental intensity modulated radiation therapy delivery

Leaf end abutment is seldom studied when delivering segmental intensity modulated radiation therapy (IMRT) fields. We developed an efficient leaf sequencing method to eliminate leaf end abutment for segmental IMRT delivery. Our method uses simple matrix and sorting operations to obtain a solution that simultaneously minimizes total monitor units and number of segments without leaf end abutment between segments. We implemented and demonstrated our method for multiple clinical cases. We compared the results of our method with the results from exhaustive search method. We found that our solution without leaf end abutment produced equivalent results to the unconstrained solutions in terms of minimum total monitor units and minimum number of leaf segments. We conclude that the leaf end abutment fields can be avoided without affecting the efficiency of segmental IMRT delivery. The major strength of our method is its simplicity and high computing speed. This potentially provides a useful means for generating segmental IMRT fields that require high spatial resolution or complex intensity distributions.

Optimal leaf sequencing with elimination of tongue-and-groove underdosage

The individual leaves of a multileaf collimator (MLC) have a tongue-and-groove or stepped-edge design to minimize leakage radiation between adjacent leaves. This design element has a drawback in that it creates areas of underdosages in intensity-modulated photon beams unless a leaf trajectory is specifically designed such that for any two adjacent leaf pairs, the direct exposure under the tongue-and-groove is equal to the lower of the direct exposures of the leaf pairs. In this work, we present a systematic study of the optimization of a leaf sequencing algorithm for segmental multileaf collimator beam delivery that completely eliminates areas of underdosages due to tongue-and-groove or stepped-edge design of the MLC. Simultaneous elimination of tongue-and-groove effect and leaf interdigitation is also studied. This is an extension of our previous work (Kamath et al 2003a Phys. Med. Biol. 48 307) in which we described a leaf sequencing algorithm that is optimal for monitor unit (MU) efficiency under most common leaf movement constraints that include minimum leaf separation. Compared to our previously published algorithm (without constraints), the new algorithms increase the number of sub-fields by approximately 21% and 25%, respectively, but are optimal in MU efficiency for unidirectional schedules.

Algorithms for optimal sequencing of dynamic multileaf collimators

Dynamic multileaf collimator (DMLC) intensity modulated radiation therapy (IMRT) is used to deliver intensity modulated beams using a multileaf collimator (MLC), with the leaves in motion. DMLC-IMRT requires the conversion of a radiation intensity map into a leaf sequence file that controls the movement of the MLC while the beam is on. It is imperative that the intensity map delivered using the leaf sequence file be as close as possible to the intensity map generated by the dose optimization algorithm, while satisfying hardware constraints of the delivery system. Optimization of the leaf-sequencing algorithm has been the subject of several recent investigations. In this work, we present a systematic study of the optimization of leaf-sequencing algorithms for dynamic multileaf collimator beam delivery and provide rigorous mathematical proofs of optimized leaf sequence settings in terms of monitor unit (MU) efficiency under the most common leaf movement constraints that include leaf interdigitation constraint. Our analytical analysis shows that leaf sequencing based on unidirectional movement of the MLC leaves is as MU efficient as bi-directional movement of the MLC leaves.

MLC quality assurance techniques for IMRT applications

Intensity modulated radiotherapy (IMRT) requires extensive knowledge of multileaf collimator (MLC) leaf positioning accuracy, precision, and long-term reproducibility. We have developed a technique to efficiently measure the absolute position of each MLC leaf, over the range of leaf positions utilized in IMRT, based on dosimetric information. A single radiographic film was exposed to 6 MV x-rays for twelve exposures: one open field with a radio-opaque marker tray present, and eleven fields (1 x 28 cm strips via 1 cm gaps between opposed leaf pairs) separated by 2 cm center to center. The process was repeated while varying direction of leaf travel; each film was digitized using a commercial film dosimetry system. The digital images were manipulated to remove translation and rotation of the film data with respect to the collimator coordinate system by extraction of radiation dose profiles perpendicular to the MLC leaf motion and measuring the center of the x-ray leakage between leaves. Radiation dose profiles in the direction of leaf motion were acquired through the center of each leaf pair (leaves 2-28), which provided leaf position information every 2 cm with 0.2 mm precision. Nine separate leaf reproducibility studies over a 90 day period which evaluated 600 measurement points on each film show 0.3 mm precision for 95% confidence, while hysteresis studies show 0.5 mm precision. Absolute leaf position error measurements demonstrated a radial dependence, with a maximum of 1.5 mm at 16.4 cm from central axis, due to rotational error at calibration. Recalibration of the MLC leaves based utilizing this tool yields absolute leaf position measurements where 91.5% of all leaves/positions were within 0.5 mm, with a mean error of 0.1 mm and a maximum error less than 1.0 mm.

Incorporating leaf transmission and head scatter corrections into step-and-shoot leaf sequences for IMRT

PURPOSE

Leaf transmission and head scatter are two important factors that influence intensity-modulated radiation therapy (IMRT) delivery and should be correctly taken into account when generating multileaf collimator (MLC) sequences. Significant discrepancies between the desired and delivered intensity profiles could otherwise result. The purpose of this article is to propose a reliable algorithm to minimize the dosimetric effects caused by the two factors in step-and-shoot mode.

MATERIALS AND METHODS

The goal of the algorithm is to minimize the difference between the desired fluence map and the fluence map actually delivered. For this purpose, an error function, defined as the least-square difference between the desired and the delivered fluence maps, is introduced. The effects of transmission and head scatter are minimized by adjusting the fractional monitor units (MUs) in the initial MLC sequences, created by using the desired fluence map without inclusion of the contributions from the two factors. Computationally, a downhill simplex optimization method is used to minimize the error function with respect to the fractional MUs. A three-source model is used to evaluate the relative head scatter distribution for each segment at the beginning of the calculation. The algorithm has been assessed by comparing the dose distributions delivered by the corrected leaf sequence files and the theoretic predication, calculated by Monte Carlo simulation using the desired fluence maps, for an intuitive test field and several clinical IMRT cases.

RESULTS

The deviations between the desired fluence maps and those calculated using the corrected leaf sequence files are <0.3% of the maximum MU for the test field and <1.0% for the clinical IMRT cases. The experimental data show that both absolute and relative dose distributions delivered by the corrected leaf sequences agree with the desired ones within 2.5% of the maximum dose or 2 mm in high-dose gradient regions. Compared with the results obtained by using the leaf sequences in which only the transmission or none of the two effects is corrected, significant improvements in the fluence and dose distributions have been observed.

CONCLUSIONS

Transmission and head scatter play important roles in the dosimetric behavior of IMRT delivery. A larger error may result if only one factor is considered because of the opposite effects of the two factors. We noted that the influence of the two effects is more pronounced in absolute dose than in the relative dose. The algorithm proposed in this work accurately corrects for these two effects in step-and-shoot delivery and provides a reliable tool for clinical IMRT application.

Leaf sequencing algorithms for segmented multileaf collimation

The delivery of intensity-modulated radiation therapy (IMRT) with a multileaf collimator (MLC) requires the conversion of a radiation fluence map into a leaf sequence file that controls the movement of the MLC during radiation delivery. It is imperative that the fluence map delivered using the leaf sequence file is as close as possible to the fluence map generated by the dose optimization algorithm, while satisfying hardware constraints of the delivery system. Optimization of the leaf sequencing algorithm has been the subject of several recent investigations. In this work, we present a systematic study of the optimization of leaf sequencing algorithms for segmental multileaf collimator beam delivery and provide rigorous mathematical proofs of optimized leaf sequence settings in terms of monitor unit (MU) efficiency under most common leaf movement constraints that include minimum leaf separation constraint and leaf interdigitation constraint. Our analytical analysis shows that leaf sequencing based on unidirectional movement of the MLC leaves is as MU efficient as bidirectional movement of the MLC leaves.

Dose verification of an IMRT treatment planning system with the BEAM EGS4-based Monte Carlo code

Intensity modulated radiation therapy (IMRT) has been increasingly used in radiotherapy departments during the last several years. A major advantage of IMRT in comparison to traditional three-dimensional conformal radiotherapy is the higher capability in providing dose distributions that conform very tightly to the target even for very complex shapes such as, for instance, concave regions. This results in a significant sparing of adjacent normal tissues. Different types of algorithms are employed in the IMRT dose calculation, from the simple pencil beam method, such as the finite-size pencil beam algorithm, to the more sophisticated algorithms, such as the kernel-based convolution/superposition ones. With the latter ones, electronic disequilibrium and inhomogeneities are better dealt with in comparison to the correction-based models like pencil beam. Nevertheless, even these types of algorithms may have some approximations that can potentially affect the dose results, especially considering that in an IMRT plan small segments or beamlets may be present for which electronic disequilibrium and inhomogeneities effects are of paramount importance. The goal of this work was to determine the accuracy in monitor units (MU) and dose distribution calculation of the algorithm implemented in the commercial treatment planning system PINNACLE3 (P3), for two IMRT plans with 6 MV photon beams. This system is based on a convolution/superposition with the Collapsed Cone approximation algorithm. The "BEAM" Monte Carlo (MC) code was employed as a benchmark in comparing the MU calculation and the dose distribution of P3. The model used to calculate the MU, with the separation of collimator scatter from the phantom scatter, valid for broad beams, was verified for narrow and irregular segments. The attention was focused on the way P3 calculates output factors (OF). A difference of 8% compared to MC was found for a particularly narrow segment analyzed. A dependence of the results on field size was found. For the complete plan, the agreement of dose distribution and MU calculation with MC results (affected by a dose uncertainty less than 0.5%) is very good: the dose difference at isocenter is 2.1% (1 standard deviation) for a "Prostate" site and 2.9% (1 standard deviation) for the "Head and Neck" site.

Smoothing intensity-modulated treatment delivery under hardware constraints

A method is developed to smooth intensity-modulated beam delivery while considering hardware constraints. The method uses matrix algebra to model MLC leaf motion and hardware constraints such as interleaf digitization, synchronization requirements, and intersegment field abutment to deliver intensity modulated beam sequences. It was implemented and demonstrated for simulated and clinical intensity modulated cases. The simulated cases included intensity distributions from 3 x 3 to 30 x 30 in dimension with 1,000 intensity levels. The clinical examples included four treatments sites: prostate, head and neck, lung, and esophagus cancers. In particular, we studied the relationships between the intensity levels, segment numbers and their influence on the dose-volume histograms of the inversely optimized IMRT treatment plans. It was found that a significant reduction in the leaf segment numbers was achieved by applying the smoothing approach. The effects were found to be more significant for the unconstrained delivery than for the constrained delivery. The effects were also found to be more sensitive for the complex intensity distributions such as the head-and-neck cases than for the less complex ones such as the prostate cases. These results demonstrated the feasibility of maintaining inversely optimized treatment plans under acceptable tolerance levels while smoothing IMRT treatments with hardware constraints.

A method for photon beam Monte Carlo multileaf collimator particle transport

Monte Carlo (MC) algorithms are recognized as the most accurate methodology for patient dose assessment. For intensity-modulated radiation therapy (IMRT) delivered with dynamic multileaf collimators (DMLCs), accurate dose calculation, even with MC, is challenging. Accurate IMRT MC dose calculations require inclusion of the moving MLC in the MC simulation. Due to its complex geometry, full transport through the MLC can be time consuming. The aim of this work was to develop an MLC model for photon beam MC IMRT dose computations. The basis of the MC MLC model is that the complex MLC geometry can be separated into simple geometric regions, each of which readily lends itself to simplified radiation transport. For photons, only attenuation and first Compton scatter interactions are considered. The amount of attenuation material an individual particle encounters while traversing the entire MLC is determined by adding the individual amounts from each of the simplified geometric regions. Compton scatter is sampled based upon the total thickness traversed. Pair production and electron interactions (scattering and bremsstrahlung) within the MLC are ignored. The MLC model was tested for 6 MV and 18 MV photon beams by comparing it with measurements and MC simulations that incorporate the full physics and geometry for fields blocked by the MLC and with measurements for fields with the maximum possible tongue-and-groove and tongue-or-groove effects, for static test cases and for sliding windows of various widths. The MLC model predicts the field size dependence of the MLC leakage radiation within 0.1% of the open-field dose. The entrance dose and beam hardening behind a closed MLC are predicted within +/- 1% or 1 mm. Dose undulations due to differences in inter- and intra-leaf leakage are also correctly predicted. The MC MLC model predicts leaf-edge tongue-and-groove dose effect within +/- 1% or 1 mm for 95% of the points compared at 6 MV and 88% of the points compared at 18 MV. The dose through a static leaf tip is also predicted generally within +/- 1% or 1 mm. Tests with sliding windows of various widths confirm the accuracy of the MLC model for dynamic delivery and indicate that accounting for a slight leaf position error (0.008 cm for our MLC) will improve the accuracy of the model. The MLC model developed is applicable to both dynamic MLC and segmental MLC IMRT beam delivery and will be useful for patient IMRT dose calculations, pre-treatment verification of IMRT delivery and IMRT portal dose transmission dosimetry.

Fast and accurate leaf verification for dynamic multileaf collimation using an electronic portal imaging device

A prerequisite for accurate dose delivery of IMRT profiles produced with dynamic multileaf collimation (DMLC) is highly accurate leaf positioning. In our institution, leaf verification for DMLC was initially done with film and ionization chamber. To overcome the limitations of these methods, a fast, accurate and two-dimensional method for daily leaf verification, using our CCD-camera based electronic portal imaging device (EPID), has been developed. This method is based on a flat field produced with a 0.5 cm wide sliding gap for each leaf pair. Deviations in gap widths are detected as deviations in gray scale value profiles derived from the EPID images, and not by directly assessing leaf positions in the images. Dedicated software was developed to reduce the noise level in the low signal images produced with the narrow gaps. The accuracy of this quality assurance procedure was tested by introducing known leaf position errors. It was shown that errors in leaf gap as small as 0.01-0.02 cm could be detected, which is certainly adequate to guarantee accurate dose delivery of DMLC treatments, even for strongly modulated beam profiles. Using this method, it was demonstrated that both short and long term reproducibility in leaf positioning were within 0.01 cm (1sigma) for all gantry angles, and that the effect of gravity was negligible.

Quality assurance of intensity-modulated radiotherapy

Intensity-modulated radiation therapy (IMRT) requires the use of inverse treatment planning and nonuniform fluence beams delivered by a series of complex radiation portals. The quality assurance procedures for conventional three-dimensional conformal radiation therapy (3D-CRT) have been developed and are in worldwide clinical use, but the more complex nature of IMRT limits the application of much of the quality assurance (QA) procedures developed for IMRT. Although consensus has not yet been reached regarding which procedures will eventually become recommended by official organizations, the field is rapidly coming to agreement on a basic set of procedures. This manuscript describes some of the novel techniques recently developed for IMRT QA, both for the validation of the calculated dose distribution and for assuring that the dose distribution reaches its intended targets.

Dosimetric validation for multileaf collimator-based intensity-modulated radiotherapy: a review

The creation of intricate dose distributions produced by intensity-modulated radiotherapy (IMRT) depends on complex planning systems and specialized mechanical devices. The many possible sources of inaccuracy and the complexity of the dose maps themselves require that a substantial effort be made to ensure that calculated and delivered dose distributions agree. This review provides an overview of the current status of the validation of dose predictions of IMRT planning systems by comparisons with measurements. Emphasis is placed on multileaf collimator- (MLC) based IMRT. Discrepancies between calculations and measurements may be due to any of 3 causes: errors and uncertainties in the dose calculation algorithm, in measurements, or in beam delivery by the accelerator/MLC combination. Some of the factors affecting dosimetry include: the technique employed for modulating the fluence, the dose calculation algorithm and other aspects of the planning system, mechanical limitations of the MLC hardware, dosimetric characteristics of the MLC, such as MLC leakage and rounded leaf ends, the choice of dosimeter, and the measurement geometry and technique. The advantages and drawbacks of various dosimeters including film, ion chambers, thermoluminescent dosimetry, and electronic portal imaging devices are discussed. The steps involved in validating dosimetrically a planning system are outlined, including the various fields that need to be measured, the phantoms that may be used, and measurement techniques. The achievable accuracy of dosimetry for IMRT is discussed.

IMRT in the treatment of head and neck cancer: is the present already the future?

Disease outcome in locally advanced head and neck cancer patients is far from satisfactory. The main causes of failure remain linked to locoregional recurrences, which are due to incomplete eradication of clonogenic cells. Conventional radiation therapy or 3-dimensional conformal radiation therapy are currently carried out at their extreme possibilities due to their intrinsic limitation--namely the impossibility to generate concave dose distributions without compromising tumor irradiation. Approximately a third of patients treated with radiotherapy and most head and neck cancer cases present concave shapes of the target volumes. With the advent of intensity modulated radiation therapy--clinically available for only few years--head and neck patients can now benefit from strategies based on highly conformal techniques. It is possible to exploit efficiently dose-escalation protocols to increase probabilities to eradicate clonogens, to reduce overall treatment time, to control repopulation problems and to keep as low as reasonably necessary the irradiation of healthy tissues minimizing acute and late complications. Today, both planning and clinical studies demonstrate these advantages but larger controlled trials are necessary to assess the true potentialities of techniques based on intensity modulation for head and neck cancers. In a speculative view, proton therapy, possibly with intensity modulation, or light ion therapy should be considered for selected cases or for reirradiation due to their higher biological efficacy and their degree of dose-conformation to target volumes.

Incorporating multi-leaf collimator leaf sequencing into iterative IMRT optimization

Intensity modulated radiation therapy (IMRT) treatment planning typically considers beam optimization and beam delivery as separate tasks. Following optimization, a multi-leaf collimator (MLC) or other beam delivery device is used to generate fluence patterns for patient treatment delivery. Due to limitations and characteristics of the MLC, the deliverable intensity distributions often differ from those produced by the optimizer, leading to differences between the delivered and the optimized doses. Objective function parameters are then adjusted empirically, and the plan is reoptimized to achieve a desired deliverable dose distribution. The resulting plan, though usually acceptable, may not be the best achievable. A method has been developed to incorporate the MLC restrictions into the optimization process. Our in-house IMRT system has been modified to include the calculation of the deliverable intensity into the optimizer. In this process, prior to dose calculation, the MLC leaf sequencer is used to convert intensities to dynamic MLC sequences, from which the deliverable intensities are then determined. All other optimization steps remain the same. To evaluate the effectiveness of deliverable-based optimization, 17 patient cases have been studied. Compared with standard optimization plus conversion to deliverable beams, deliverable-based optimization results show improved isodose coverage and a reduced dose to critical structures. Deliverable-based optimization results are close to the original nondeliverable optimization results, suggesting that IMRT can overcome the MLC limitations by adjusting individual beamlets. The use of deliverable-based optimization may reduce the need for empirical adjustment of objective function parameters and reoptimization of a plan to achieve desired results.

Incorporation of realistic delivery limitations into dynamic MLC treatment delivery

The clinical implementation of IMRT involves the use of a number of complex software-based systems, typically including an inverse planning system, a leaf sequencer, and a computer-controlled treatment delivery system. The inverse planning system determines the desired fluence patterns, the leaf sequencer translates those fluence maps into leaf trajectories, and the control system delivers those trajectories. While verification of intensity-modulated treatment fields has focused primarily on the dosimetric aspects of delivery, accurate delivery of the intended fluence distribution is dependent upon both the leaf sequencer and delivery control systems. Leaf sequencing algorithms typically do not incorporate many control system limitations, and this can lead to discrepancies between planned and delivered sequences. In this work, simple and complex fields were sequenced for the dynamic sliding window technique using different leaf speeds and tolerance settings to identify various limitations of the accelerator control system. This work was conducted on a Varian 2100 EX equipped with a Millennium 120 leaf MLC. The identified limitations were then incorporated into the sequencing algorithm using a limiting leaf velocity (less than the maximum leaf velocity), the leaf position tolerance, and the communications delay in the control system. Collision avoidance in leaf pairs was found to depend on a control system-enforced minimum gap between leaves and led to acceleration effects. By incorporating these effects into the leaf sequencing algorithm, dynamic sliding-window leaf sequences were produced which did not require beam interruptions or dose rate modulations for the parameter values used in calculating the sequence (dose rate, tolerance, leaf speed, and total monitor units). Incorporation of control system limitations into the leaf sequencing algorithm results in IMRT fields that are delivered with the prescribed constant dose rate, require less time to deliver, and have well-defined, calculable transmission dose characteristics.

Is uniform target dose possible in IMRT plans in the head and neck?

PURPOSE

Various published reports involving intensity-modulated radiotherapy (IMRT) plans developed using automated optimization (inverse planning) have demonstrated highly conformal plans. These reported conformal IMRT plans involve significant target dose inhomogeneity, including both overdosage and underdosage within the target volume. In this study, we demonstrate the development of optimized beamlet IMRT plans that satisfy rigorous dose homogeneity requirements for all target volumes (e.g., +/-5%), while also sparing the parotids and other normal structures.

METHODS AND MATERIALS

The treatment plans of 15 patients with oropharyngeal cancer who were previously treated with forward-planned multisegmental IMRT were planned again using an automated optimization system developed in-house. The optimization system allows for variable sized beamlets computed using a three-dimensional convolution/superposition dose calculation and flexible cost functions derived from combinations of clinically relevant factors (costlets) that can include dose, dose-volume, and biologic model-based costlets. The current study compared optimized IMRT plans designed to treat the various planning target volumes to doses of 66, 60, and 54 Gy with varying target dose homogeneity while using a flexible optimization cost function to minimize the dose to the parotids, spinal cord, oral cavity, brainstem, submandibular nodes, and other structures.

RESULTS

In all cases, target dose uniformity was achieved through steeply varying dose-based costs. Differences in clinical plan evaluation metrics were evaluated for individual cases (eight different target homogeneity costlets), and for the entire cohort of plans. Highly conformal plans were achieved, with significant sparing of both the contralateral and ipsilateral parotid glands. As the homogeneity of the target dose distributions was allowed to decrease, increased sparing of the parotids (and other normal tissues) may be achieved. However, it was shown that relatively few patients would benefit from the use of increased target inhomogeneity, because the range of improvement in the parotid dose is relatively limited. Hot spots in the target volumes are shown to be unnecessary and do not assist in normal tissue sparing.

CONCLUSION

Sparing of both parotids in patients receiving bilateral neck radiation can be achieved without compromising strict target dose homogeneity criteria. The geometry of the normal tissue and target anatomy are shown to be the major factor necessary to predict the parotid sparing that will be possible for any particular case.

Intensity-modulated radiotherapy: current status and issues of interest

PURPOSE

To develop and disseminate a report aimed primarily at practicing radiation oncology physicians and medical physicists that describes the current state-of-the-art of intensity-modulated radiotherapy (IMRT). Those areas needing further research and development are identified by category and recommendations are given, which should also be of interest to IMRT equipment manufacturers and research funding agencies.

METHODS AND MATERIALS

The National Cancer Institute formed a Collaborative Working Group of experts in IMRT to develop consensus guidelines and recommendations for implementation of IMRT and for further research through a critical analysis of the published data supplemented by clinical experience. A glossary of the words and phrases currently used in IMRT is given in the. Recommendations for new terminology are given where clarification is needed.

RESULTS

IMRT, an advanced form of external beam irradiation, is a type of three-dimensional conformal radiotherapy (3D-CRT). It represents one of the most important technical advances in RT since the advent of the medical linear accelerator. 3D-CRT/IMRT is not just an add-on to the current radiation oncology process; it represents a radical change in practice, particularly for the radiation oncologist. For example, 3D-CRT/IMRT requires the use of 3D treatment planning capabilities, such as defining target volumes and organs at risk in three dimensions by drawing contours on cross-sectional images (i.e., CT, MRI) on a slice-by-slice basis as opposed to drawing beam portals on a simulator radiograph. In addition, IMRT requires that the physician clearly and quantitatively define the treatment objectives. Currently, most IMRT approaches will increase the time and effort required by physicians, medical physicists, dosimetrists, and radiation therapists, because IMRT planning and delivery systems are not yet robust enough to provide totally automated solutions for all disease sites. Considerable research is needed to model the clinical outcomes to allow truly automated solutions. Current IMRT delivery systems are essentially first-generation systems, and no single method stands out as the ultimate technique. The instrumentation and methods used for IMRT quality assurance procedures and testing are not yet well established. In addition, many fundamental questions regarding IMRT are still unanswered. For example, the radiobiologic consequences of altered time-dose fractionation are not completely understood. Also, because there may be a much greater ability to trade off dose heterogeneity in the target vs. avoidance of normal critical structures with IMRT compared with traditional RT techniques, conventional radiation oncology planning principles are challenged. All in all, this new process of planning and treatment delivery has significant potential for improving the therapeutic ratio and reducing toxicity. Also, although inefficient currently, it is expected that IMRT, when fully developed, will improve the overall efficiency with which external beam RT can be planned and delivered, and thus will potentially lower costs.

CONCLUSION

Recommendations in the areas pertinent to IMRT, including dose-calculation algorithms, acceptance testing, commissioning and quality assurance, facility planning and radiation safety, and target volume and dose specification, are presented. Several of the areas in which future research and development are needed are also indicated. These broad recommendations are intended to be both technical and advisory in nature, but the ultimate responsibility for clinical decisions pertaining to the implementation and use of IMRT rests with the radiation oncologist and radiation oncology physicist. This is an evolving field, and modifications of these recommendations are expected as new technology and data become available.

Minimizing the number of segments in a delivery sequence for intensity-modulated radiation therapy with a multileaf collimator

This paper proposes a sequencing algorithm for intensity-modulated radiation therapy with a multileaf collimator in the static mode. The algorithm aims to minimize the number of segments in a delivery sequence. For a machine with a long verification and recording overhead time (e.g., 15 s per segment), minimizing the number of segments is equivalent to minimizing the delivery time. The proposed new algorithm is based on checking numerous candidates for a segment and selecting the candidate that results in a residual intensity matrix with the least complexity. When there is more than one candidate resulting in the same complexity, the candidate with the largest size is selected. The complexity of an intensity matrix is measured in the new algorithm in terms of the number of segments in the delivery sequence obtained by using a published algorithm. The beam delivery efficiency of the proposed algorithm and the influence of different published algorithms used to calculate the complexity of an intensity matrix were tested with clinical intensity-modulated beams. The results show that no matter which published algorithm is used to calculate the complexity of an intensity matrix, the sequence generated by the algorithm proposed here is always more efficient than that generated by the published algorithm itself. The results also show that the algorithm used to calculate the complexity of an intensity matrix affects the efficiency of beam delivery. The delivery sequences are frequently most efficient when the algorithm of Bortfeld et al. is used to calculate the complexity of an intensity matrix. Because no single variation is most efficient for all beams tested, we suggest implementing multiple variations of our algorithm.

Commissioning of a commercially available system for intensity-modulated radiotherapy dose delivery with dynamic multileaf collimation

PURPOSE

To commission commercially available equipment for intensity-modulated radiotherapy (IMRT) using dynamic multileaf collimation (DMLC).

MATERIALS AND METHODS

First, the stability in leaf positioning and in realized IMRT profiles on a Varian 2300 C/D machine were determined as a function of time and gantry angle, and as a result of treatment interrupts. Second, dose distributions calculated with the CadPlan (Varian) treatment planning system, using leaf trajectories calculated with the leaf motion calculator (LMC) algorithm, were compared with distributions realized at the 2300 C/D unit.

RESULTS

Day-to-day and gantry angle variations in leaf positioning and dose delivery were very small (less than 0.1-0.2 mm and 2%). The effect of treatment interrupts on measured dose distributions was less than 2%. The agreement between the final dose distribution calculated by CadPlan and the measured dose was generally within 2%, or 2 mm at steep dose gradients, using a leaf transmission value of 1.8% and a leaf separation value of 2 mm in LMC. For narrow peaks, deviations of up to 6% were observed. LMC does not synchronize adjacent leaf trajectories resulting in tongue-and-groove underdosages of up to 29% for extreme cases.

CONCLUSIONS

The 2300 C/D machine is suitable for accurate and reproducible DMLC treatments. The agreement between dose predictions with LMC and CadPlan, and realized doses at this unit is clinically acceptable for most cases. However, differences between calculated and actual dose values may exist in peaked fluences or due to tongue-and-groove effects. Therefore, pretreatment dosimetric verification for each patient is recommended.

An intercomparison of IMRT delivery techniques: a case study for breast treatment

Intensity-modulated radiotherapy beams can be delivered using a multileaf collimator by one of two methods: either by superposition of a series of multiple-static fields, or by moving the collimators while the beam is on to produce 'dynamically' modulated beams. The leaf trajectories in this dynamic mode are given by a series of linear steps between control points defining each collimator position at known intervals throughout an exposure. The complexity of the resulting modulation is limited in the first case by the number of fields superposed and in the second case by the number of control points defined. Results are presented for an experimental study that investigates the effect of changing both the number of fields for the multiple-static technique, and the number of control points for a dynamic 'close-in' technique. All deliveries studied are clinical intensity-modulated breast fields. The effect of using a universal wedge in conjunction with the multileaf collimator is also studied, together with a comparison of the relative efficiency, time taken and the absolute dosimetric accuracy of the various delivery options. It is shown that all delivery techniques produce equivalent dose distributions when using 15 control points, with 10 control points being sufficient to produce an adequate breast compensator distribution. Except for the case of a four-control-point dynamic delivery, the universal wedge makes no significant difference to the dose distribution. However, it makes the delivery less efficient. The close-in interpreter consistently produces deliveries that are more efficient than the more conventional sliding-window technique and faster than the multiple-static-field technique. Finally the close-in technique is compared to the more 'standard' leaf-sweep technique and shown to be equivalent.

An evaluation of two techniques for beam intensity modulation in patients irradiated for stage III non-small cell lung cancer

In locally advanced lung cancer, the use of high dose radiotherapy (RT) and/or concurrent chemo-RT is associated with significant pulmonary and esophageal toxicity. Despite a 3D conformal RT technique and the omission of elective mediastinal fields, three (of ten) patients with inoperable stage 3 NSCLC who were treated with induction chemotherapy (carboplatin-paclitaxel) followed by RT to 70 Gy, developed symptomatic radiation pneumonitis. In this planning study, the actual treatment plans of all ten patients were compared to plans derived using two beam intensity-modulated (BIM) techniques, for which similar geometrical beam setup parameters were used. In the first technique (BF-BIM), cranial and caudal boost fields were applied in order to allow field length reduction. The second technique (C-BIM) utilised 3-D missing-tissue compensators for all radiation beams. Both BIM techniques resulted in a significant sparing of critical normal tissues and the C-BIM technique was superior in all cases. When compared to the actual RT technique used for treatment, a reduction of 8.1+/-4.7% (1 S.D.) was observed in the mean lung dose for the BF-BIM plan, vs. 20.3+/-5.8% (1 S.D.) for the C-BIM plan. Similar reductions were observed in the percentage of the total lung volume exceeding 20 Gy (V(20)) for these techniques. BIM techniques appear to be a promising tool for enabling radiation dose-escalation and/or intensive concurrent chemo-RT in inoperable lung cancer.

The MLC tongue-and-groove effect on IMRT dose distributions

We have investigated the tongue-and-groove effect on the IMRT dose distributions for a Varian MLC. We have compared the dose distributions calculated using the intensity maps with and without the tongue-and-groove effect. Our results showed that, for one intensity-modulated treatment field, the maximum tongue-and-groove effect could be up to 10% of the maximum dose in the dose distributions. For an IMRT treatment with multiple gantry angles (> or = 5), the difference between the dose distributions with and without the tongue-and-groove effect was hardly visible, less than 1.6% for the two typical clinical cases studied. After considering the patient setup errors, the dose distributions were smoothed with reduced and insignificant differences between plans with and without the tongue-and-groove effect. Therefore, for a multiple-field IMRT plan (> or = 5), the tongue-and-groove effect on the IMRT dose distributions will be generally clinically insignificant due to the smearing effect of individual fields. The tongue-and-groove effect on an IMRT plan with small number of fields (< 5) will vary depending on the number of fields in a plan (coplanar or non-coplanar), the MLC leaf sequences and the patient setup uncertainty, and may be significant (> 5% of maximum dose) in some cases, especially when the patient setup uncertainty is small (< or = 2 mm).

Sampling considerations for intensity modulated radiotherapy verification using electronic portal imaging

A model has been developed to describe the sampling process that occurs when intensity modulated radiotherapy treatments (delivered with a multileaf collimator) are imaged with an electronic portal imaging device that acquires a set of frames with a finite dead-time between them. The effects of the imaging duty cycle and frame rate on the accuracy of dosimetric verification have been studied. A frame interval of 1 s with 25%, 50% and 75% duty cycle, and a 50% duty cycle with frame intervals of 1, 2, 4, 8, and 16 s have been studied for a smoothly varying hemispherical intensity profile, and a 50% duty cycle with frame intervals of 1, 2, 4, and 8 s for a pixellated distribution. In addition an intensity modulated beam for breast radiotherapy has been modeled and imaged for 0.33 s frame time and 1, 2, and 3 s frame separation. The results show that under sparse temporal sampling conditions, errors of the order of 10% may ensue and occur with an oscillatory pattern. For the beams studied, imaging with a 1 or 2 s frame interval resulted in small errors at the 1%-2% level, for all duty cycles shown.

Testing of the stability of intensity modulated beams generated with dynamic multileaf collimation, applied to the MM50 racetrack microtron

Recently, we have published a method for the calculation of required leaf trajectories to generate optimized intensity modulated x-ray beams by means of dynamic multileaf collimation [Phys. Med. Biol. 43, 1171-1184 (1998)]. For the MM50 Racetrack Microtron it has been demonstrated that the dosimetric accuracy of this method, in combination with the dose calculation algorithm of the Cadplan 3D treatment planning system, is adequate for a clinical application (within 2% or 0.2 cm). Prior to initiating patient treatment with dynamic multileaf collimation (DMLC), tests have been performed to investigate the stability of DMLC fields generated at the MM50, (i) in time, (ii) subject to gantry rotation and (iii) in case of treatment interrupts, e.g., caused by an error detected by the treatment machine. The stability of relative dose profiles, normalized to a reference point in a relatively flat part of the modulated beam profile, was assessed from measurements with an electronic portal imaging device (EPID), with a linear diode array attached to the collimator and with film. The dose in the reference point was monitored using an ionization chamber. Tests were performed for several intensity modulated fields using 10 and 25 MV photon beams. Based on film measurements for sweeping 0.1 cm leaf gaps it was concluded that in an 80 days period the variation in leaf positioning was within 0.05 cm, without requiring any recalibration. For a uniform 10x10 cm2 field, realized dynamically by a scanning 0.4x10 cm2 slit beam, a maximum variation in slit width of 0.01 cm was derived from ionization chamber measurements, both in time and for gantry rotation. For a clinical example, the dose in the reference point reproduced within 0.2% (1 SD) over a period of 100 days. Apart from regions with very large dose gradients, variations in the relative beam profiles measured with the EPID were generally less than 1% (1 SD). For different gantry angles the dose profiles also reproduced within 1%, showing that gravity has a negligible influence. No significant deviations between uninterrupted and interrupted treatments could be observed, indicating that the effects of acceleration and deceleration of the leaves are negligible and that a DMLC treatment can be finished correctly after a treatment interrupt. Our previous and present studies have demonstrated that the dosimetric accuracy and stability of intensity modulated beams, generated at the MM50 by means of dynamic multileaf collimation, are adequate for clinical use. Patient treatment using dynamic multileaf collimation has been started in our clinic.

Differential dosing of prostate and seminal vesicles using dynamic multileaf collimation

PURPOSE

We have investigated the potential of applying different doses to the prostate (PTV2) and prostate/seminal vesicles (PTV1) using multileaf collimation (MLC) for intensity modulated radiation therapy (IMRT). Current dose-escalation studies call for treatment of the PTV1 to 54 Gy in 27 fractions followed by 20 Gy minimum to the PTV2. A daily minimum PTV dose of 2 Gy using a 7-field technique (4 obliques, opposed laterals, and an ant-post field) is delivered. This requires monitor unit calculations, paper and electronic chart entry, and quality assurance for a total of 14 fields. The goal of MLC IMRT is to improve efficiency and deliver superior dose distributions. Acceptance testing and commissioning of the dynamic MLC (DMLC) option on a dual-energy accelerator was accomplished. Most of the testing was performed using segmental MLC (SMLC) IMRT with stop-and-shoot sequences built within the dynamic mode of the DMLC.

METHODS AND MATERIALS

The MLC IMRT fields were forward planned using a three-dimensional treatment planning system. The 14 fields were condensed to 7 SMLC IMRT fields with two segments each. In this process, steps were created by moving the leaves to the reduced field positions. No dose (<0.01%) was delivered during this motion. The monitor units were proportioned according to the planned treatment weights. Film and ionization chamber dosimetry were used to analyze leaf positional accuracy and speed, output, and depth-dose characteristics. A geometric phantom was used for absolute and relative measurements. We obtained a volumetric computerized tomography (CT) scan of the phantom, performed 3D planning, and then delivered a single treatment fraction.

RESULTS

The acceptance testing and commissioning demonstrated that the leaves move to programmed positions accurately and in a timely manner. We did find an approximately 1 mm offset of the set leaf position and radiation edge (50%) due to the curved-end nature and calibration limitations. The 7-field SMLC IMRT treatment duplicated the 14-field static plan dose distribution with variations no greater than 1.5%.

CONCLUSIONS

The MLC IMRT approach will improve efficiency because the number of electronic and chart entries has decreased by a factor of 2. Portal images are able to capture the initial and final MLC segments. The question of differential daily dose to the prostate and seminal vesicles remains.

Chest wall irradiation with MLC-shaped photon and electron fields

PURPOSE

To improve the treatment technique for chest wall irradiation, using the multileaf collimator (MLC) of the MM50 Racetrack Microtron to shape both photon and electron beams, and to check the dose delivery in the match-line region of these fields for the routine and improved technique.

METHODS AND MATERIALS

Using diode and film phantom measurements, the optimal number of photon beam segments and their positions relative to the electron beam were determined. On phantoms, and during actual patient treatment using in vivo dosimetry, the dose homogeneity in the match-line region was determined for both the routine and improved techniques.

RESULTS

Three photon beam segments (9-mm gap, perfect match, and 9-mm overlap) were used to match the electron beam, resulting in minimum-maximum dose values in the match-line region of 88-109%, compared to 80-115% for the routine technique (2 photon beam segments). During patient treatment, the average minimum and maximum dose values were 95% and 115%, respectively, compared to 78% and 127%, respectively, for the routine technique. The interfraction variation in dose delivery was reduced from 11.0% (1 SD) to 4.6% (1 SD). The actual treatment time was reduced from 10 to 4.5 min.

CONCLUSION

Using the MLC of the MM50 to shape both photon and electron beams, an improved treatment technique for chest wall irradiation was developed, which is less labor intensive, faster, and yields a more homogeneous, and better reproducible dose delivery.

Dynamic splitting of large intensity-modulated fields

The aims of this paper are to describe a method of splitting large intensity-modulated fields that cannot be delivered as a single field and to verify the accuracy of our method. Some multi-leaf collimators may be operated in the dynamic mode to deliver intensity-modulated radiation treatments (IMRT) using the 'sliding window' technique. In this technique each pair of leaves sweeps over the treatment field while the beam is on. However, there are limitations on the width of the field that can be treated due to the limited length of the leaves. For instance, the leaf length of the Varian MLC is 14.5 cm. Since each leaf pair must travel from the left boundary to the right boundary of the beam aperture, the maximum width of the field aperture that can be accommodated in one sweep of leaves is also limited to 14.5 cm, in fact to a slightly smaller value. It has been shown that IMRT is more efficient when used to plan and deliver the large and boost fields simultaneously. In such situations, the fields must be large enough to cover simultaneously the volumes of the gross tumour, microscopic disease and electively treated regions. Such field sizes are often larger than 14.5 cm wide. In this paper, we present a dynamic 'feathering' technique to split the large intensity-modulated fields into smaller fields. In this technique, the component beams overlap each other by a small amount, and the intensity in the overlap region gradually decreases for one field component and increases for the other. The sum of intensities remains the same as for the original field. This method eliminates the field matching problems associated with the conventional step 'break' for static fields. The splitting process is integrated into the IMRT treatment procedure and the entire planning process is automated. Comparison of dose distributions calculated and measured in a phantom showed good agreement. Such a method can be applied to the 'step and shoot' technique as well. IMRT fields of widths up to 25 cm can be delivered by splitting only once, which is adequate for most treatments.

Dose calculation and verification of intensity modulation generated by dynamic multileaf collimators

While the development of inverse planning tools for optimizing dose distributions has come to a level of maturity, intensity modulation has not yet been widely implemented in clinical use because of problems related to its practical delivery and a lack of verification tools and quality assurance (QA) procedures. One of the prerequisites is a dose calculation algorithm that achieves good accuracy. The purpose of this work was twofold. A primary-scatter separation dose model has been extended to account for intensity modulation generated by a dynamic multileaf collimator (MLC). Then the calculation procedures have been tested by comparison with carefully carried out experiments. Intensity modulation is being accounted for by means of a 2D (two-dimensional) matrix of correction factors that modifies the spatial fluence distribution, incident to the patient. The dose calculation for the corresponding open field is then affected by those correction factors. They are used in order to weight separately the primary and the scatter component of the dose at a given point. In order to verify that the calculated dose distributions are in good agreement with measurements on our machine, we have designed a set of test intensity distributions and performed measurements with 6 and 20 MV photons on a Varian Clinac 2300C/D linear accelerator equipped with a 40 leaf pair dynamic MLC. Comparison between calculated and measured dose distributions for a number of representative cases shows, in general, good agreement (within 3% of the normalization in low dose gradient regions and within 3 mm distance-to-dose in high dose gradient regions). For absolute dose calculations (monitor unit calculations), comparison between calculation and measurement reveals good agreement (within 2%) for all tested cases (with the condition that the prescription point is not located on a high dose gradient region).

Hardware-sensitive optimization for intensity modulated radiotherapy

The multileaf collimator (MLC) hardware constraints are usually neglected in the process of intensity-modulated beam optimization. Consequently, it is not always possible to deliver planned beam modulation using dynamic MLC. Beam optimization is significantly diminished if the results must be approximated due to limitations imposed by the delivery device. To overcome this problem, an inverse beam optimization method which incorporates the hardware constraints has been developed. The hardware constraints, including the leaf velocity, the dose rate and the minimum required gap between opposing and adjacent leaves, were considered. An iterative search for feasible modulation was conducted alternately in the dosimetric space and the MLC position-time space. The optimization algorithm was designed for a unidirectional leaf trajectory and a constant dose rate. A scheme to reduce tongue-and-groove underdosage during optimization was also implemented. Comparisons were made between the solutions produced by this method and conventional optimization disregarding the hardware restrictions. The beam profiles generated by the conventional method were modified to satisfy the hardware specifications. The results indicate that inclusion of MLC constraints during optimization can improve the degree of conformity that is deliverable.

Verification of dynamic multileaf collimation using an electronic portal imaging device

High standards of treatment verification are necessary where complex new delivery techniques, such as intensity modulated radiation therapy using dynamic multileaf collimation, are being developed. This paper describes the use of a fluoroscopic electronic portal imaging device (EPID) to provide real-time qualitative verification of leaf position during delivery of a dynamic MLC prescription in addition to off-line quantitative verification. A custom-built circuit triggers the EPID to capture a series of snap-shot images at equally spaced dose points during a dynamic MLC prescription. Real-time verification is achieved by overlaying a template of expected leaf positions onto the images as they are acquired. Quantitative off-line verification is achieved using a maximum gradient edge detection algorithm to measure individual leaf positions for comparison with required leaf positions. Investigations have been undertaken to optimize image acquisition and assess the edge detection algorithm for variations in machine dose rate, leaf velocity and beam attenuation. On-line verification enables the operator to monitor the progress of a dynamic delivery and has been used for independent confirmation of accurate dynamic delivery during intensity modulated treatments. Off-line verification allows measurement of leaf position with a precision of 1 mm although image acquisition times must be less than or equal to 140 ms to ensure coincidence of the maximum gradient in the image with the 50% dose level.

Iterative approaches to dose optimization in tomotherapy

This paper will present the results of an investigation into three iterative approaches to inverse treatment planning. These techniques have been examined in the hope of developing an optimization algorithm suitable for the large-scale problems that are encountered in tomotherapy. The three iterative techniques are referred to as the ratio method, iterative least-squares minimization and the maximum-likelihood estimator. Our results indicate that each of these techniques can serve as a useful tool in tomotherapy optimization. As compared with other mathematical programming techniques, the iterative approaches can reduce both memory demands and time requirements. In this paper, the results from small- and large-scale optimizations will be analysed. It will also be demonstrated that the flexibility of the iterative techniques can be greatly enhanced through the use of dose-volume histogram based penalty functions and/or through the use of weighting factors assigned to each region of the patient. Finally, results will be presented from an investigation into the stability of the iterative techniques.

Intensity-modulation radiotherapy using independent collimators: an algorithm study

The purpose of this work is to investigate algorithms for the delivery of intensity-modulated fields using independent collimators (IC). Two heuristic algorithms are proposed to calculate jaw-setting sequences for arbitrary 2D intensity distributions. The first algorithm is based on searching the whole intensity matrix to find the largest nonzero rectangular area as a segment while the second algorithm is to find a nonzero rectangular area as a segment which makes the complexity of the remaining intensity matrix minimum. After a sequence is obtained, the delivery order of all its segments is optimized with the technique of simulated annealing to minimize the total jaw-moving time. To evaluate these two algorithms, randomly generated intensity matrices and three clinical cases of different complexity have been tested, and the results have been compared with one algorithm proposed for MLC technique. It is shown that the efficiency of IC technique becomes increasingly lower than that of MLC technique, and the relative efficiency of two algorithms proposed here is related to machine dose rate and jaw speed. Assuming the prescribed dose is 200 cGY per fraction, machine dose rate is 250 MU/min, and jaw speed is 1.5 cm/s, the treatment can be delivered within about 20 min for all three cases with the first algorithm. The second algorithm requires longer delivery time under such assumptions. The delivery time can be further reduced through increasing machine dose rate and jaw speed, and developing more efficient algorithms. The use of IC for intensity-modulation radiotherapy has some potential advantages over other techniques.

Dosimetric verification of intensity modulated beams produced with dynamic multileaf collimation using an electronic portal imaging device

Dose distributions can often be significantly improved by modulating the two-dimensional intensity profile of the individual x-ray beams. One technique for delivering intensity modulated beams is dynamic multileaf collimation (DMLC). However, DMLC is complex and requires extensive quality assurance. In this paper a new method is presented for a pretreatment dosimetric verification of these intensity modulated beams utilizing a charge-coupled device camera based fluoroscopic electronic portal imaging device (EPID). In the absence of the patient, EPID images are acquired for all beams produced with DMLC. These images are then converted into two-dimensional dose distributions and compared with the calculated dose distributions. The calculations are performed with a pencil beam algorithm as implemented in a commercially available treatment planning system using the same absolute beam fluence profiles as used for calculation of the patient dose distribution. The method allows an overall verification of (i) the leaf trajectory calculation (including the models to incorporate collimator scatter and leaf transmission), (ii) the correct transfer of the leaf sequencing file to the treatment machine, and (iii) the mechanical and dosimetrical performance of the treatment unit. The method was tested for intensity modulated 10 and 25 MV photon beams; both model cases and real clinical cases were studied. Dose profiles measured with the EPID were also compared with ionization chamber measurements. In all cases both predictions and EPID measurements and EPID and ionization chamber measurements agreed within 2% (1 sigma). The study has demonstrated that the proposed method allows fast and accurate pretreatment verification of DMLC.

Customised compensation using intensity modulated beams delivered by dynamic multileaf collimation

BACKGROUND AND PURPOSE

This paper describes the development of customised compensation by intensity modulated radiation therapy (IMRT), delivered by dynamic application of a multileaf collimator (MLC), in order to improve dose homogeneity in treatments of the pelvic region. The introduction of this simple IMRT procedure will help facilitate the clinical implementation of more complex 3D conformal therapy techniques.

MATERIALS AND METHOD

Computer software is used to generate profiles of the intensity modulated beams which are required to deliver a uniform dose in a plane, passing through the isocentre and normal to the beam axis, under an irregular surface contour. These profiles are then operated on by interpreter software which determines the leaf trajectories that are necessary to deliver these beam profiles using a single, unidirectional sweep of the MLC leaves. A full dose calculation based on the calculated leaf positions is subsequently performed, allowing further fine adjustments to the modulation where required.

RESULTS AND CONCLUSION

The compensation procedure has been successfully tested using films placed under a test phantom. The effect of the compensation procedure on dose distributions in the transverse plane has been investigated using an anthropomorphic phantom. Overall dose homogeneity has been improved through the use of customised compensation delivered by dynamic multileaf collimation.

Mixing intensity modulated electron and photon beams: combining a steep dose fall-off at depth with sharp and depth-independent penumbras and flat beam profiles

For application in radiotherapy, intensity modulated high-energy electron and photon beams were mixed to create dose distributions that feature: (a) a steep dose fall-off at larger depths, similar to pure electron beams, (b) flat beam profiles and sharp and depth-independent beam penumbras, as in photon beams, and (c) a selectable skin dose that is lower than for pure electron beams. To determine the required electron and photon beam fluence profiles, an inverse treatment planning algorithm was used. Mixed beams were realized at a MM50 racetrack microtron (Scanditronix Medical AB, Sweden), and evaluated by the dose distributions measured in a water phantom. The multileaf collimator of the MM50 was used in a static mode to shape overlapping electron beam segments, and the dynamic multileaf collimation mode was used to realize the intensity modulated photon beam profiles. Examples of mixed beams were generated at electron energies of up to 40 MeV. The intensity modulated electron beam component consists of two overlapping concentric fields with optimized field sizes, yielding broad, fairly depth-independent overall beam penumbras. The matched intensity modulated photon beam component has high fluence peaks at the field edges to sharpen this penumbra. The combination of the electron and the photon beams yields dose distributions with the characteristics (a)-(c) mentioned above.

[Intensity modulation by inverse planning: preliminary results]

An inverse planning algorithm for determining the intensity of modulated beams that generates conformal radiotherapy dose distributions is presented. This algorithm is based on the mathematical analysis of the singular values decomposition. It is integrated in the DOSIGRAY 3D treatment planning software. The dose is calculated by the separation of the primary and scattered radiation. We presented, for a prostate cancer, the modulated intensity profiles and the optimal dose distribution obtained by the inverse optimization software developed and integrated in the treatment planning system. We obtained a region with high doses which geometrically conforms the target volume and spares the neighboring critical structures. This preliminary study showed the feasibility and the managing of the singular value decomposition to generate conformal dose distribution in a clinical environment.

Temporal resolution requirements for intensity modulated radiation therapy delivered by multileaf collimators

Intensity modulated radiation therapy may be delivered via dynamic control of a multileaf collimator by defining dynamic leaf trajectories at a series of control points which are spaced at arbitrary intervals throughout an exposure. Leaves move linearly between the positions defined at the control points and hence leaf motion is a linear approximation to the planned trajectories. When many control points are used, very complex modulations can be defined accurately. If too few are used, dose errors are introduced which depend on the complexity of the modulation and the number of control points chosen. Proposed intensity modulations, of varying complexity, have been converted to trajectory plans where the number of equally spaced control points varied between 11 and 99. In each case the fluence map generated by the resulting leaf motions was computed, and this was quantitatively compared with the desired modulation by calculating the root mean square (RMS) error. It is shown that in no case can the RMS error be significantly reduced by increasing the number of control points beyond 50. Guidelines are derived such that compensators and simple modulations may be very accurately delivered with about 20 control points, moderately complex modulations require 30-35 control points and very complex modulations 50 control points. A similar analysis of the step and shoot technique suggests that very accurate deliveries are always achieved with a maximum of 25 equally weighted static fields and reasonable accuracy with 15 fields.

Optimization and clinical use of multisegment intensity-modulated radiation therapy for high-dose conformal therapy

Intensity-modulated radiation therapy (IMRT) may be performed with many different treatment delivery techniques. This article summarizes the clinical use and optimization of multisegment IMRT plans that have been used to treat more than 350 patients with IMRT over the last 4.5 years. More than 475 separate clinical IMRT plans are reviewed, including treatments of brain, head and neck, thorax, breast and chest wall, abdomen, pelvis, prostate, and other sites. Clinical planning, plan optimization, and treatment delivery are summarized, including efforts to minimize the number of additional intensity-modulated segments needed for particular planning protocols. Interactive and automated optimization of segmental and full IMRT approaches are illustrated, and automation of the segmental IMRT planning process is discussed.