A margin model to account for respiration-induced tumour motion and its variability

Multi-GPU configuration of 4D intensity modulated radiation therapy inverse planning using global optimization

We report on the design, implementation and characterization of a multi-graphic processing unit (GPU) computational platform for higher-order optimization in radiotherapy treatment planning. In collaboration with a commercial vendor (Varian Medical Systems, Palo Alto, CA), a research prototype GPU-enabled Eclipse (V13.6) workstation was configured. The hardware consisted of dual 8-core Xeon processors, 256 GB RAM and four NVIDIA Tesla K80 general purpose GPUs. We demonstrate the utility of this platform for large radiotherapy optimization problems through the development and characterization of a parallelized particle swarm optimization (PSO) four dimensional (4D) intensity modulated radiation therapy (IMRT) technique. The PSO engine was coupled to the Eclipse treatment planning system via a vendor-provided scripting interface. Specific challenges addressed in this implementation were (i) data management and (ii) non-uniform memory access (NUMA). For the former, we alternated between parameters over which the computation process was parallelized. For the latter, we reduced the amount of data required to be transferred over the NUMA bridge. The datasets examined in this study were approximately 300 GB in size, including 4D computed tomography images, anatomical structure contours and dose deposition matrices. For evaluation, we created a 4D-IMRT treatment plan for one lung cancer patient and analyzed computation speed while varying several parameters (number of respiratory phases, GPUs, PSO particles, and data matrix sizes). The optimized 4D-IMRT plan enhanced sparing of organs at risk by an average reduction of [Formula: see text] in maximum dose, compared to the clinical optimized IMRT plan, where the internal target volume was used. We validated our computation time analyses in two additional cases. The computation speed in our implementation did not monotonically increase with the number of GPUs. The optimal number of GPUs (five, in our study) is directly related to the hardware specifications. The optimization process took 35 min using 50 PSO particles, 25 iterations and 5 GPUs.

Inversed-Planned Respiratory Phase Gating in Lung Conformal Radiation Therapy

PURPOSE

To assess whether the optimal gating window for each beam during lung radiation therapy with respiratory gating will be dependent on a variety of patient-specific factors, such as tumor size and location and the extent of relative tumor and organ motion.

METHODS AND MATERIALS

To create optimal gating treatment plans, we started from an optimized clinical plan, created a plan per respiratory phase using the same beam arrangements, and used an inverse planning optimization approach to determine the optimal gating window for each beam and optimal beam weights (ie, monitor units). Two pieces of information were used for optimization: (1) the state of the anatomy at each phase, extracted from 4-dimensional computed tomography scans; and (2) the time spent in each state, estimated from a 2-minute monitoring of the patient's breathing motion. We retrospectively studied 15 lung cancer patients clinically treated by hypofractionated conformal radiation therapy, for whom 45 to 60 Gy was administered over 3 to 15 fractions using 7 to 13 beams. Mean gross tumor volume and respiratory-induced tumor motion were 82.5 cm³ and 1.0 cm, respectively.

RESULTS

Although patients spent most of their respiratory cycle in end-exhalation (EE), our optimal gating plans used EE for only 34% of the beams. Using optimal gating, maximum and mean doses to the esophagus, heart, and spinal cord were reduced by an average of 15% to 26%, and the beam-on times were reduced by an average of 23% compared with equivalent single-phase EE gated plans (P<.034, paired 2-tailed t test).

CONCLUSIONS

We introduce a personalized respiratory-gating technique in which inverse planning optimization is used to determine patient- and beam-specific gating phases toward enhancing dosimetric quality of radiation therapy treatment plans.

4D VMAT planning and verification technique for dynamic tracking using a direct aperture deformation (DAD) method

We developed a four‐dimensional volumetric modulated arc therapy (4D VMAT) planning technique for moving targets using a direct aperture deformation (DAD) method and investigated its feasibility for clinical use. A 3D VMAT plan was generated on a reference phase of a 4D CT dataset. The plan was composed of a set of control points including the beam angle, MLC apertures and weights. To generate the 4D VMAT plan, these control points were assigned to the closest respiratory phases using the temporal information of the gantry angle and respiratory curve. Then, a DAD algorithm was used to deform the beam apertures at each control point to the corresponding phase to compensate for the tumor motion and shape changes. Plans for a phantom and five lung cases were included in this study to evaluate the proposed technique. Dosimetric comparisons were performed between 4D and 3D VMAT plans. Plan verification was implemented by delivering the 4D VMAT plans on a moving QUASAR™ phantom driven with patient‐specific respiratory curves. The phantom study showed that the 4D VMAT plan generated with the DAD method was comparable to the ideal 3D VMAT plan. DVH comparisons indicated that the planning target volume (PTV) coverages and minimum doses were nearly invariant, and no significant difference in lung dosimetry was observed. Patient studies revealed that the GTV coverage was nearly the same; although the PTV coverage dropped from 98.8% to 94.7%, and the mean dose decreased from 64.3 to 63.8 Gy on average. For the verification measurements, the average gamma index pass rate was 98.6% and 96.5% for phantom 3D and 4D VMAT plans with 3%/3 mm criteria. For patient plans, the average gamma pass rate was 96.5% (range 94.5–98.5%) and 95.2% (range 94.1–96.1%) for 3D and 4D VMAT plans. The proposed 4D VMAT planning technique using the DAD method is feasible to incorporate the intra‐fraction organ motion and shape change into a 4D VMAT planning. It has great potential to provide high plan quality and delivery efficiency for moving targets.

Adaptive and robust radiation therapy in the presence of drift

Combining adaptive and robust optimization in radiation therapy has the potential to mitigate the negative effects of both intrafraction and interfraction uncertainty over a fractionated treatment course. A previously developed adaptive and robust radiation therapy (ARRT) method for lung cancer was demonstrated to be effective when the sequence of breathing patterns was well-behaved. In this paper, we examine the applicability of the ARRT method to less well-behaved breathing patterns. We develop a novel method to generate sequences of probability mass functions that represent different types of drift in the underlying breathing pattern. Computational results derived from applying the ARRT method to these sequences demonstrate that the ARRT method is effective for a much broader class of breathing patterns than previously demonstrated.

External respiratory motion analysis and statistics for patients and volunteers

We analyzed a large patient and volunteer study of external respiratory motion in order to develop a population database of respiratory information. We analyzed 120 lung, liver, and abdominal patients and 25 volunteers without lung disease to determine the extent of motion using the Varian Real‐Time Position Management system. The volunteer respiratory motion was measured for both abdominal and thoracic placement of the RPM box. Evaluation of a subset of 55 patients demonstrates inter‐ and intrafraction variation over treatment. We also calculated baseline drift and duty cycle for patients and volunteers. The mean peak‐to‐peak amplitude (SD) for the patients was 1.0 (0.5) cm, and for the volunteers it was abdomen 0.8 (0.3) cm and thoracic 0.2 (0.2) cm. The mean period (SD) was 3.6 (1.0) s, 4.2 (1.1) s, and 4.1 (0.8) s, and the mean end exhale position (SD) was 60% (6), 58% (7), and 56% (7) for patient, volunteer abdomen, and volunteer thoracic, respectively. Baseline drift was greater than 0.5 cm for 40% of patients. We found statistically significant differences between the patient and volunteer groups. Peak‐to‐peak amplitude was significantly larger for patients than the volunteer abdominal measurement and the volunteer abdominal measurement is significantly larger than the volunteer thoracic measurement. The patient group also exhibited significantly larger baseline drift than the volunteer group. We also found that peak‐to‐peak amplitude was the most variable parameter for both intra‐ and interfraction motion. This database compilation can be used as a resource for expected motion when using external surrogates in radiotherapy applications.

PACS number: 87.19.Wx, 87.55.Km

Reproducibility of image quality for moving objects using respiratory-gated computed tomography: a study using a phantom model

To investigate the reproducibility of computed tomography (CT) imaging quality in respiratory-gated radiation treatment planning is essential in radiotherapy of movable tumors. Seven series of regular and six series of irregular respiratory motions were performed using a thorax dynamic phantom. For the regular respiratory motions, the respiratory cycle was changed from 2.5 to 4 s and the amplitude was changed from 4 to 10 mm. For the irregular respiratory motions, a cycle of 2.5 to 4 or an amplitude of 4 to 10 mm was added to the base data (i.e. 3.5-s cycle, 6-mm amplitude) every three cycles. Images of the object were acquired six times using respiratory-gated data acquisition. The volume of the object was calculated and the reproducibility of the volume was decided based on the variety. The registered image of the object was added and the reproducibility of the shape was decided based on the degree of overlap of objects. The variety in the volumes and shapes differed significantly as the respiratory cycle changed according to regular respiratory motions. In irregular respiratory motion, shape reproducibility was further inferior, and the percentage of overlap among the six images was 35.26% in the 2.5- and 3.5-s cycle mixed group. Amplitude changes did not produce significant differences in the variety of the volumes and shapes. Respiratory cycle changes reduced the reproducibility of the image quality in respiratory-gated CT.

External respiratory motion: shape analysis and custom realistic respiratory trace generation

PURPOSE

The authors developed a realistic respiratory trace generating (RTG) tool for use with phantom and simulation studies.

METHODS

The authors analyzed the extent of abdominal wall motion from a real-time position management system database comprised of 125 lung, liver, and abdominal patients to determine the shape and extent of motion. Using Akaike's information criterion (AIC), the authors compared different model types to find the optimal realistic model of respiratory motion.

RESULTS

The authors compared a family of sigmoid curves and determined a four parameter sigmoid fit was optimal for over 98% patient inhale and exhale traces. This fit was also better than sin (2)(x) for 98% of patient exhale and 70% of patient inhale traces and better than sin (x) for 100% of both patient inhale and exhale traces. This analysis also shows that sin (2)(x) is better than sin (x) for over 95% of patient inhale and exhale traces. With results from shape and extent of motion analysis, we developed a realistic respiratory trace generating (RTG) software tool. The software can be run in two modes: population and user defined. In population mode, the RTG draws entirely from the population data including inter- and intra fraction amplitude and period variability and baseline drift. In user-defined mode, the user customizes the respiratory parameters by inputting the peak-to-peak amplitude, period, end exhale position, as well as controls variability in these parameters and baseline drift.

CONCLUSIONS

This work provides a method of generating custom respiratory data that can be used for initial implementation and testing of new technologies.

Variable planning margin approach to account for locoregional variations in setup uncertainties

PURPOSE

To develop a method for creating variable planning margins around a clinical treatment volume (CTV) and to evaluate its application in head and neck cancer radiotherapy in accounting for locoregional variations of nonrigid setup uncertainties.

METHODS

Ten computed tomography (CT) images (with a resolution of 0.68 × 0.68 × 2.5 mm(3)) of a head and neck cancer patient were acquired from the first two weeks of treatment for this study. Five rigid structures (the C2, C5, and caudal C7 vertebrae, mandible, and jugular notch) were used as the landmarks for creating variable local margins. At different CTV locations, local margins were calculated as the weighted average of margins determined at different landmark points from previous studies. The weight was determined by a Gaussian falloff function of the distance between the current location and each landmark point. The CTV delineated on the planning CT image, spanning from the upper portion of the mouth to the lower part of the neck, was expanded to form the planning treatment volume (PTV) with either variable or the conventional constant margins. To evaluate the target coverage, the original planning CTV was deformably mapped to each daily treatment CT using a deformable image registration method. We examined the overlap of the deformed CTV and the rigidly aligned PTV for each margin design strategy and compared the efficacy of the variable margin with the constant margin approach.

RESULTS

For the variable margin approach with a baseline C2 margin of 2.5 mm in the left-right, anterior-posterior, and superior-inferior directions, an average of 99.2% of the CTV was within the PTV, and for the approach with a constant 2.5 mm margin, an average of 97.9% of the CTV was within the PTV. With a baseline margin of 2.0 mm, the variable margin approach had an average coverage of 97.8%, similar to that of the constant 2.5 mm margin approach. However, its average nonoverlapped PTV proportion was 32.4%, smaller than that of the constant 2.5 mm margin approach (33.7%). Paired t-tests of computations from the ten treatment fractions showed no significant difference in CTV coverage for the variable margin approach with a baseline of 2.0 mm and the constant 2.5 margin approach (p = 0.054), but the nonoverlapped PTV proportion was significantly smaller for the variable margin approach with a baseline of 2.0 mm than for the constant 2.5 mm margin approach (p < 0.0001). The CTV coverage with the variable margin approach was also significantly higher than with the constant margin approach in the lower neck area, where a larger setup error normally occurs.

CONCLUSIONS

We implemented a variable margin approach to account for locoregional variations of setup uncertainties for head and neck cancer radiotherapy, and demonstrated the effectiveness of this approach when compared with the conventional global constant margin expansion approach, where the treatment target spreads out to a broad region. As variable margin data become available and more clinical studies are performed, this approach could be applicable to other treatment sites as well.

Four dimensional CT imaging: a review of current technologies and modalities

Organ motion is a substantial concern in the treatment of thoracic tumours using radiotherapy. A number of technologies have evolved in order to address this both during computed tomography (CT) imaging and radiation delivery. This review paper investigates the various technologies which have been developed in the field of CT scanning as well as their accuracy, cost and the implications of their clinical implementation. The scanning modalities covered include: slow CT, breath hold CT, gated CT and retrospectively correlated CT (4DCT). It was found that there are advantages and drawbacks to each of the mentioned techniques relating to patient dose, scan time, extra equipment and workload. Also some scanning techniques are only compatible with certain treatment modalities which would further influence the decision as to which technologies to implement.

Analysis of the optimum internal margin for respiratory-gated radiotherapy using end-expiratory phase assessments using a motion phantom

We aimed to optimize internal margin (IM) determination for respiratory‐gated radiotherapy using end‐expiratory phase assessments using a motion phantom. Four‐dimensional computed tomography (4D CT) data were acquired using a GE LightSpeed RT CT scanner, a respiratory‐gating system, and a motion phantom designed to move sinusoidally. To analyze the accuracy of 4D CT temporal resolution, a 25.4 mm diameter sphere was inserted into the motion phantom, and we measured the differences in sphere diameters between static and end‐exhalation phase images. In addition, the IM obtained from the maximum intensity projection within the gating window (MIPGW) image was compared to theoretical value. Cranial–caudal motion displacement ranged from 5.0 to 30.0 mm, and the respiratory period ranged from 2.0 to 6.0 sec. Differences in sphere diameters between static and end‐exhalation phase images ranged from 0.37 to 4.6 mm, with 5.0 ‐mm and 30 mm target displacements, respectively. Differences between the IM obtained from the MIPGW and the theoretical values ranged from 1.12 to 6.23 mm with 5.0 mm and 30 mm target displacements, respectively. These differences increased in proportion to the target velocity due to a motion artifact generated during tube rotation. In this study, the IMs obtained using the MIPGW image were overestimated in all cases. We therefore propose that the internal target volume (ITV) for respiratory‐gated radiotherapy should be determined by adding the calculated value to the end‐exhalation phase image. We also demonstrate a methodology for subtracting motion artifacts from the ITV using a motion phantom.

PACS numbers: 87.53.Kn, 87.55.Gh, 87.56.jk

Respiration-correlated image guidance is the most important radiotherapy motion management strategy for most lung cancer patients

PURPOSE

The purpose of this study was to quantify the effects of four-dimensional computed tomography (4DCT), 4D image guidance (4D-IG), and beam gating on calculated treatment field margins in a lung cancer patient population.

MATERIALS AND METHODS

Images were acquired from 46 lung cancer patients participating in four separate protocols at three institutions in Europe and the United States. Seven patients were imaged using fluoroscopy, and 39 patients were imaged using 4DCT. The magnitude of respiratory tumor motion was measured. The required treatment field margins were calculated using a statistical recipe (van Herk M, et al. Int J Radiat Oncol Biol Phys 2000;474:1121-1135), with magnitudes of all uncertainties, except respiratory peak-to-peak displacement, the same for all patients, taken from literature. Required margins for respiratory motion management were calculated using the residual respiratory tumor motion for each patient for various motion management strategies. Margin reductions for respiration management were calculated using 4DCT, 4D-IG, and gated beam delivery.

RESULTS

The median tumor motion magnitude was 4.4 mm for the 46 patients (range 0-29.3 mm). This value corresponded to required treatment field margins of 13.7 to 36.3 mm (median 14.4 mm). The use of 4DCT, 4D-IG, and beam gating required margins that were reduced by 0 to 13.9 mm (median 0.5 mm), 3 to 5.2 mm (median 5.1 mm), and 0 to 7 mm (median 0.2 mm), respectively, to a total of 8.5 to 12.4 mm (median 8.6 mm).

CONCLUSION

A respiratory management strategy for lung cancer radiotherapy including planning on 4DCT scans and daily image guidance provides a potential reduction of 37% to 47% in treatment field margins. The 4D image guidance strategy was the most effective strategy for >85% of the patients.

Real-time 4-D radiotherapy for lung cancer

Respiratory motion considerably influences dose distribution, and thus clinical outcomes in radiotherapy for lung cancer. Breath holding, breath coaching, respiratory gating with external surrogates, and mathematical predicting models all have inevitable uncertainty due to the unpredictable variations of internal tumor motion. The amplitude of the same tumor can vary with standard deviations > 5 mm occurring in 23% of T1-2N0M0 non-small cell lung cancers. Residual motion varied 1-6 mm (95th percentile) for the 40% duty cycle of respiratory gating with external surrogates. The 4-D computed tomography is vulnerable to problems relating to the external surrogates. Real-time 4-D radiotherapy (4DRT), where the temporal changes in anatomy during the delivery of radiotherapy are explicitly considered in real time, is emerging as a new method to reduce these known sources of uncertainty. Fluoroscopic, real-time tumor-tracking technology using internal fiducial markers near the tumor has ± 2 mm accuracy, and has achieved promising clinical results when used with X-ray therapy. Instantaneous irradiation based on real-time verification of internal fiducial markers is considered the minimal requisite for real-time 4DRT of lung cancers at present. Real-time tracking radiotherapy using gamma rays from positron emitters in tumors is in the preclinical research stage, but has been successful in experiments in small animals. Real-time tumor tracking via spot-scanning proton beam therapy has the capability to cure large lung cancers in motion, and is expected to be the next-generation real-time 4DRT.

Evaluation of integrated respiratory gating systems on a Novalis Tx system

The purpose of this study was to investigate the accuracy of motion tracking and radiation delivery control of integrated gating systems on a Novalis Tx system. The study was performed on a Novalis Tx system, which is equipped with Varian Real‐time Position Management (RPM) system, and BrainLAB ExacTrac gating systems. In this study, the two systems were assessed on accuracy of both motion tracking and radiation delivery control. To evaluate motion tracking, two artificial motion profiles and five patients' respiratory profiles were used. The motion trajectories acquired by the two gating systems were compared against the references. To assess radiation delivery control, time delays were measured using a single‐exposure method. More specifically, radiation is delivered with a 4 mm diameter cone within the phase range of 10%–45% for the BrainLAB ExacTrac system, and within the phase range of 0%–25% for the Varian RPM system during expiration, each for three times. Radiochromic films were used to record the radiation exposures and to calculate the time delays. In the work, the discrepancies were quantified using the parameters of mean and standard deviation (SD). Pearson's product‐moment correlational analysis was used to test correlation of the data, which is quantified using a parameter of r. The trajectory profiles acquired by the gating systems show good agreement with those reference profiles. A quantitative analysis shows that the average mean discrepancies between BrainLAB ExacTrac system and known references are 1.5 mm and 1.9 mm for artificial and patient profiles, with the maximum motion amplitude of 28.0 mm. As for the Varian RPM system, the corresponding average mean discrepancies are 1.1 mm and 1.7 mm for artificial and patient profiles. With the proposed single‐exposure method, the time delays are found to be 0.20±0.03 seconds and 0.09±0.01 seconds for BrainLAB ExacTrac and Varian RPM systems, respectively. The results indicate the systems can track motion and control radiation delivery with reasonable accuracy. The proposed single‐exposure method has been demonstrated to be feasible in measuring time delay efficiently.

PACS numbers: 87.56.bd, 87.56.‐v, 87.55.‐x

Statistical modeling of 4D respiratory lung motion using diffeomorphic image registration

Modeling of respiratory motion has become increasingly important in various applications of medical imaging (e.g., radiation therapy of lung cancer). Current modeling approaches are usually confined to intra-patient registration of 3D image data representing the individual patient's anatomy at different breathing phases. We propose an approach to generate a mean motion model of the lung based on thoracic 4D computed tomography (CT) data of different patients to extend the motion modeling capabilities. Our modeling process consists of three steps: an intra-subject registration to generate subject-specific motion models, the generation of an average shape and intensity atlas of the lung as anatomical reference frame, and the registration of the subject-specific motion models to the atlas in order to build a statistical 4D mean motion model (4D-MMM). Furthermore, we present methods to adapt the 4D mean motion model to a patient-specific lung geometry. In all steps, a symmetric diffeomorphic nonlinear intensity-based registration method was employed. The Log-Euclidean framework was used to compute statistics on the diffeomorphic transformations. The presented methods are then used to build a mean motion model of respiratory lung motion using thoracic 4D CT data sets of 17 patients. We evaluate the model by applying it for estimating respiratory motion of ten lung cancer patients. The prediction is evaluated with respect to landmark and tumor motion, and the quantitative analysis results in a mean target registration error (TRE) of 3.3 ±1.6 mm if lung dynamics are not impaired by large lung tumors or other lung disorders (e.g., emphysema). With regard to lung tumor motion, we show that prediction accuracy is independent of tumor size and tumor motion amplitude in the considered data set. However, tumors adhering to non-lung structures degrade local lung dynamics significantly and the model-based prediction accuracy is lower in these cases. The statistical respiratory motion model is capable of providing valuable prior knowledge in many fields of applications. We present two examples of possible applications in radiation therapy and image guided diagnosis.

Four-dimensional intensity-modulated radiation therapy planning for dynamic tracking using a direct aperture deformation (DAD) method

PURPOSE

Planning for the delivery of intensity-modulated radiation therapy (IMRT) to a moving target, referred to as four-dimensional (4D) IMRT planning, is a crucial step for achieving the treatment objectives for sites that move during treatment delivery. The authors proposed a simplistic method that accounts for both rigid and nonrigid respiration-induced target motion based on 4D computed tomography (4DCT) data sets.

METHODS

A set of MLC apertures and weights was first optimized on a reference phase of a 4DCT data set. At each beam angle, the apertures were morphed from the reference phase to each of the remaining phases according to the relative shape changes in the beam's eye view of the target. Three different planning schemes were evaluated for two lung cases and one pancreas patient: (1) Individually optimizing each breathing phase; (2) optimizing the reference phase and shifting the optimized apertures to other breathing phases based on a rigid-body image registration; and (3) optimizing the reference phase and deforming the optimized apertures to the other phases based on the deformation and translation of target contours. Planning results using scheme 1 serves as the "gold standard" for plan quality assessment; scheme 2 is the method previously proposed in the literature; and scheme 3 is the method the authors proposed in this article. The optimization results were compared between the three schemes for all three cases.

RESULTS

The proposed scheme 3 is comparable to scheme 1 in plan quality, and provides improved target coverage and conformity with similar normal tissue dose compared with scheme 2.

CONCLUSIONS

Direct aperture deformation method for 4D IMRT planning improves upon methods that only consider rigid-body motion and achieves a plan quality close to that optimized for each of the phases.

Relationship between diseased lung tissues on computed tomography and motion of fiducial marker near lung cancer

PURPOSE

For lung cancer patients with poor pulmonary function because of emphysema or fibrosis, it is important to predict the amplitude of internal tumor motion to minimize the irradiation of the functioning lung tissue before undergoing stereotactic body radiotherapy.

METHODS AND MATERIALS

Two board-certified diagnostic radiologists independently assessed the degree of pulmonary emphysema and fibrosis on computed tomography scans in 71 patients with peripheral lung tumors before real-time tumor-tracking radiotherapy. The relationships between the computed tomography findings of the lung parenchyma and the motion of the fiducial marker near the lung tumor were investigated. Of the 71 patients, 30 had normal pulmonary function, and 29 had obstructive pulmonary dysfunction (forced expiratory volume in 1 s/forced vital capacity ratio of <70%), 6 patients had constrictive dysfunction (percentage of vital capacity <80%), and 16 had mixed dysfunction.

RESULTS

The upper region was associated with smaller tumor motion, as expected (p = .0004), and the presence of fibrosis (p = .088) and pleural tumor contact (p = .086) were weakly associated with tumor motion. The presence of fibrotic changes in the lung tissue was associated with smaller tumor motion in the upper region (p <.05) but not in the lower region. The findings of emphysema and pulmonary function tests were not associated with tumor motion.

CONCLUSION

Tumors in the upper lung region with fibrotic changes have smaller motion than those in the upper region of the lungs without fibrotic changes. The tumor motion in the lower lung region was not significantly different between patients with and without lung fibrosis. Emphysema was not associated with the amplitude of tumor motion.

Four-dimensional targeting error analysis in image-guided radiotherapy

Image-guided therapy (IGT) involves acquisition and processing of biomedical images to actively guide medical interventions. The proliferation of IGT technologies has been particularly significant in image-guided radiotherapy (IGRT), as a way to increase the tumor targeting accuracy. When IGRT is applied to moving tumors, image guidance becomes challenging, as motion leads to increased uncertainty. Different strategies may be applied to mitigate the effects of motion: each technique is related to a different technological effort and complexity in treatment planning and delivery. The objective comparison of different motion mitigation strategies can be achieved by quantifying the residual uncertainties in tumor targeting, to be detected by means of IGRT technologies. Such quantification requires an extension of targeting error theory to a 4D space, where the 3D tumor trajectory as a function of time measured (4D Targeting Error, 4DTE). Accurate 4DTE analysis can be represented by a motion probability density function, describing the statistical fluctuations of tumor trajectory. We illustrate the application of 4DTE analysis through examples, including weekly variations in tumor trajectory as detected by 4DCT, respiratory gating via external surrogates and real-time tumor tracking.

Time delays in gated radiotherapy

In gated radiotherapy, the accuracy of treatment delivery is determined by the accuracy with which both the imaging and treatment beams are gated. Time delays are of four types: (1) beam on imaging time delay is the time between the target entering the gated region and the first gated image acquisition; (2) beam off imaging time delay is the time between the target exiting a gated region and the last image acquisition; (3) beam on treatment time delay is the time between the target entering the gated region and the treatment beam on; and (4) beam off treatment time delay is the time between the target exiting the gated region and treatment beam off. Asynchronous time delays for the imaging and treatment systems may increase the required internal target volume (ITV) margin. We measured time delay on three fluoroscopy systems, and three linear accelerator treatment beams, varying gating type (amplitude vs. phase), beam energy, dose rate, and period. The average beam on imaging time delays were −0.04±0.05sec (amplitude, 1 SD), −0.11±0.04sec (phase); while the average beam off imaging time delays were −0.18±0.08sec (amplitude) and −0.15±0.04sec (phase). The average beam on treatment time delays were +0.09±0.02sec (amplitude, 1 SD), +0.10±0.03sec (phase); while the average beam off time delays for treatment beams were +0.08±0.02sec (amplitude) and +0.07±0.02sec (phase). The negative value indicates the images were acquired early, and the positive values show the treatment beam was triggered late. We present a technique for calculating the margin necessary to account for time delays. We found that the difference between these imaging and treatment time delays required a significant increase in the ITV margin in the direction of tumor motion at the gated level.

PACS number: 87.53.Dq