The equivalence of multi-criteria methods for radiotherapy plan optimization

Simultaneous reduction of number of spots and energy layers in intensity modulated proton therapy for rapid spot scanning delivery

BACKGROUND

Reducing proton treatment time improves patient comfort and decreases the risk of error from intrafractional motion, but must be balanced against clinical goals and treatment plan quality.

PURPOSE

To improve the delivery efficiency of spot scanning proton therapy by simultaneously reducing the number of spots and energy layers using the reweightedl 1 $l_1$ regularization method.

METHODS

We formulated the proton treatment planning problem as a convex optimization problem with a cost function consisting of a dosimetric plan quality term plus a weightedl 1 $l_1$ regularization term. We iteratively solved this problem and adaptively updated the regularization weights to promote the sparsity of both the spots and energy layers. The proposed algorithm was tested on four head-and-neck cancer patients, and its performance, in terms of reducing the number of spots and energy layers, was compared with existing standardl 1 $l_1$ and groupl 2 $l_2$ regularization methods. We also compared the effectiveness of the three methods (l 1 $l_1$ , groupl 2 $l_2$ , and reweightedl 1 $l_1$ ) at improving plan delivery efficiency without compromising dosimetric plan quality by constructing each of their Pareto surfaces charting the trade-off between plan delivery and plan quality.

RESULTS

The reweightedl 1 $l_1$ regularization method reduced the number of spots and energy layers by an average over all patients of40 % $40\%$ and35 % $35\%$ , respectively, with an insignificant cost to dosimetric plan quality. From the Pareto surfaces, it is clear that reweightedl 1 $l_1$ provided a better trade-off between plan delivery efficiency and dosimetric plan quality than standardl 1 $l_1$ or groupl 2 $l_2$ regularization, requiring the lowest cost to quality to achieve any given level of delivery efficiency.

CONCLUSIONS

Reweightedl 1 $l_1$ regularization is a powerful method for simultaneously promoting the sparsity of spots and energy layers at a small cost to dosimetric plan quality. This sparsity reduces the time required for spot scanning and energy layer switching, thereby improving the delivery efficiency of proton plans.

Validation of Fully Automated Robust Multicriterial Treatment Planning for Head and Neck Cancer IMPT

PURPOSE

Our purpose was to compare robust intensity modulated proton therapy (IMPT) plans, automatically generated with wish-list-based multicriterial optimization as implemented in Erasmus-iCycle, with manually created robust clinical IMPT plans for patients with head and neck cancer.

METHODS AND MATERIALS

Thirty-three patients with head and neck cancer were retrospectively included. All patients were previously treated with a manually created IMPT plan with 7000 cGy dose prescription to the primary tumor (clinical target volume [CTV]7000) and 5425 cGy dose prescription to the bilateral elective volumes (CTV5425). Plans had a 4-beam field configuration and were generated with scenario-based robust optimization (21 scenarios, 3-mm setup error, and ±3% density uncertainty for the CTVs). Three clinical plans were used to configure the Erasmus-iCycle wish-list for automated generation of robust IMPT plans for the other 30 included patients, in line with clinical planning requirements. Automatically and manually generated IMPT plans were compared for (robust) target coverage, organ-at-risk (OAR) doses, and normal tissue complication probabilities (NTCP). No manual fine-tuning of automatically generated plans was performed.

RESULTS

For all automatically generated plans, voxel-wise minimum D98% values for the CTVs were within clinical constraints and similar to manual plans. All investigated OAR parameters were favorable in the automatically generated plans (all P < .001). Median reductions in mean dose to OARs went up to 667 cGy for the inferior pharyngeal constrictor muscle, and median reductions in D0.03cm3 in serial OARs ranged up to 1795 cGy for the spinal cord surface. The observed lower mean dose in parallel OARs resulted in statistically significant lower NTCP for xerostomia (grade ≥2: 34.4% vs 38.0%; grade ≥3: 9.0% vs 10.2%) and dysphagia (grade ≥2: 11.8% vs 15.0%; grade ≥3: 1.8% vs 2.8%).

CONCLUSIONS

Erasmus-iCycle was able to produce IMPT dose distributions fully automatically with similar (robust) target coverage and improved OAR doses and NTCPs compared with clinical manual planning, with negligible hands-on planning workload.

A fast and robust constraint-based online re-optimization approach for automated online adaptive intensity modulated proton therapy in head and neck cancer

Objective. In head-and-neck cancer intensity modulated proton therapy, adaptive radiotherapy is currently restricted to offline re-planning, mitigating the effect of slow changes in patient anatomies. Daily online adaptations can potentially improve dosimetry. Here, a new, fully automated online re-optimization strategy is presented. In a retrospective study, this online re-optimization approach was compared to our trigger-based offline re-planning (offlineTBre-planning) schedule, including extensive robustness analyses.Approach. The online re-optimization method employs automated multi-criterial re-optimization, using robust optimization with 1 mm setup-robustness settings (in contrast to 3 mm for offlineTBre-planning). Hard planning constraints and spot addition are used to enforce adequate target coverage, avoid prohibitively large maximum doses and minimize organ-at-risk doses. For 67 repeat-CTs from 15 patients, fraction doses of the two strategies were compared for the CTVs and organs-at-risk. Per repeat-CT, 10.000 fractions with different setup and range robustness settings were simulated using polynomial chaos expansion for fast and accurate dose calculations.Main results. For 14/67 repeat-CTs, offlineTBre-planning resulted in <50% probability ofD98%≥ 95% of the prescribed dose (Dpres) in one or both CTVs, which never happened with online re-optimization. With offlineTBre-planning, eight repeat-CTs had zero probability of obtainingD98%≥ 95%Dpresfor CTV7000, while the minimum probability with online re-optimization was 81%. Risks of xerostomia and dysphagia grade ≥ II were reduced by 3.5 ± 1.7 and 3.9 ± 2.8 percentage point [mean ± SD] (p< 10-5for both). In online re-optimization, adjustment of spot configuration followed by spot-intensity re-optimization took 3.4 min on average.Significance. The fast online re-optimization strategy always prevented substantial losses of target coverage caused by day-to-day anatomical variations, as opposed to the clinical trigger-based offline re-planning schedule. On top of this, online re-optimization could be performed with smaller setup robustness settings, contributing to improved organs-at-risk sparing.

SISS-MCO: large scale sparsity-induced spot selection for fast and fully-automated robust multi-criteria optimisation of proton plans

Objective.Intensity modulated proton therapy (IMPT) is an emerging treatment modality for cancer. However, treatment planning for IMPT is labour-intensive and time-consuming. We have developed a novel approach for multi-criteria optimisation (MCO) of robust IMPT plans (SISS-MCO) that is fully automated and fast, and we compare it for head and neck, cervix, and prostate tumours to a previously published method for automated robust MCO (IPBR-MCO, van de Water 2013).Approach.In both auto-planning approaches, the applied automated MCO of spot weights was performed with wish-list driven prioritised optimisation (Breedveld 2012). In SISS-MCO, spot weight MCO was applied once for every patient after sparsity-induced spot selection (SISS) for pre-selection of the most relevant spots from a large input set of candidate spots. IPBR-MCO had several iterations of spot re-sampling, each followed by MCO of the weights of the current spots.Main results.Compared to the published IPBR-MCO, the novel SISS-MCO resulted in similar or slightly superior plan quality. Optimisation times were reduced by a factor of 6 i.e. from 287 to 47 min. Numbers of spots and energy layers in the final plans were similar.Significance.The novel SISS-MCO automatically generated high-quality robust IMPT plans. Compared to a published algorithm for automated robust IMPT planning, optimisation times were reduced on average by a factor of 6. Moreover, SISS-MCO is a large scale approach; this enables optimisation of more complex wish-lists, and novel research opportunities in proton therapy.

Influence of optimisation parameters on directly deliverable Pareto fronts explored for prostate cancer

PURPOSE

In inverse radiotherapy treatment planning, the Pareto front is the set of optimal solutions to the multi-criteria problem of adequately irradiating the planning target volume (PTV) while reducing dose to organs at risk (OAR). The Pareto front depends on the chosen optimisation parameters whose influence (clinically relevant versus not clinically relevant) is investigated in this paper.

METHODS

Thirty-one prostate cancer patients treated at our clinic were randomly selected. We developed an in-house Python script that controlled the commercial treatment planning system RayStation to calculate directly deliverable Pareto fronts. We calculated reference Pareto fronts for a given set of objective functions, varying the PTV coverage and the mean dose of the primary OAR (rectum) and fixing the mean doses of the secondary OARs (bladder and femoral heads). We calculated the fronts for different sets of objective functions and different mean doses to secondary OARs. We compared all fronts using a specific metric (clinical distance measure).

RESULTS

The in-house script was validated for directly deliverable Pareto front calculations in two and three dimensions. The Pareto fronts depended on the choice of objective functions and fixed mean doses to secondary OARs, whereas the parameters most influencing the front and leading to clinically relevant differences were the dose gradient around the PTV, the weight of the PTV objective function, and the bladder mean dose.

CONCLUSIONS

Our study suggests that for multi-criteria optimisation of prostate treatments using external therapy, dose gradient around the PTV and bladder mean dose are the most influencial parameters.

Patient anatomy-specific trade-offs between sub-clinical disease coverage and normal tissue dose reduction in head-and-neck cancer

PURPOSE

Risk of subclinical disease decreases with increasing distance from the GTV in head- and-neck squamous cell carcinoma (HNSCC). Depending on individual patient anatomy, OAR sparing could be improved by reducing target coverage in regions with low risk of subclinical spread. Using automated multi-criteria optimization, we investigate patient-specific optimal trade-offs between target periphery coverage and OAR sparing.

METHODS

VMAT plans for 39 HNSCC patients were retrospectively created following our clinical three-target-level protocol: high-risk (PTV1), intermediate-risk (PTV2, 5 mm expansion from PTV1), and elective (PTV3). A baseline plan fulfilling clinical constraints (D 99 % ≥95 % for all PTVs) was compared to three plans with reduced PTV2 coverage (goals: PTV2 D 99 % ≥90 % or 85 %, or no PTV2) at the outer edge of PTV2. Plans were compared on PTV D 99 %, OAR D mean, and NTCP (xerostomia/dysphagia).

RESULTS

Trade-offs between PTV2 coverage and OAR doses varied considerably between patients. For plans with PTV2 D 99 % -goal 90 %, median PTV2 D 99 % was 91.5 % resulting in xerostomia (≥grade 4) and dysphagia (≥grade 2) NTCP decrease of median [maximum] 1.9 % [5.3 %] and 1.1 % [4.1 %], respectively, compared to nominal PTV2 D 99 % -goal 95 %. For PTV2 D 99 % -goal 85 % median PTV D 99 % was 87 % with NTCP improvements of 4.6 % [9.9 %] and 1.5 % [5.4 %]. For no-margin plans, PTV2 D 99 % decreased to 83.3 % with NTCP reductions of 5.1 % [10.2 %] and 1.4 % [6.1 %].

CONCLUSION

Clinically relevant, patient-specific reductions in OARs and NTCP were observed at limited cost in target under-coverage at the outermost PTV edge. Given the observed inter-patient variations, individual evaluation is warranted to determine whether trade- offs would benefit a specific patient.

Domain knowledge driven 3D dose prediction using moment-based loss function

Objective. To propose a novel moment-based loss function for predicting 3D dose distribution for the challenging conventional lung intensity modulated radiation therapy plans. The moment-based loss function is convex and differentiable and can easily incorporate clinical dose volume histogram (DVH) domain knowledge in any deep learning (DL) framework without computational overhead. Approach. We used a large dataset of 360 (240 for training, 50 for validation and 70 for testing) conventional lung patients with 2 Gy × 30 fractions to train the DL model using clinically treated plans at our institution. We trained a UNet like convolutional neural network architecture using computed tomography, planning target volume and organ-at-risk contours as input to infer corresponding voxel-wise 3D dose distribution. We evaluated three different loss functions: (1) the popular mean absolute error (MAE) loss, (2) the recently developed MAE + DVH loss, and (3) the proposed MAE + moments loss. The quality of the predictions was compared using different DVH metrics as well as dose-score and DVH-score, recently introduced by the AAPM knowledge-based planning grand challenge. Main results. Model with (MAE + moment) loss function outperformed the model with MAE loss by significantly improving the DVH-score (11%, p < 0.01) while having similar computational cost. It also outperformed the model trained with (MAE + DVH) by significantly improving the computational cost (48%) and the DVH-score (8%, p < 0.01). Significance. DVH metrics are widely accepted evaluation criteria in the clinic. However, incorporating them into the 3D dose prediction model is challenging due to their non-convexity and non-differentiability. Moments provide a mathematically rigorous and computationally efficient way to incorporate DVH information in any DL architecture. The code, pretrained models, docker container, and Google Colab project along with a sample dataset are available on our DoseRTX GitHub (https://github.com/nadeemlab/DoseRTX)

Fast VMAT planning for prostate radiotherapy: dosimetric validation of a deep learning-based initial segment generation method

Objective. To develop and evaluate a deep learning based fast volumetric modulated arc therapy (VMAT) plan generation method for prostate radiotherapy. Approach. A customized 3D U-Net was trained and validated to predict initial segments at 90 evenly distributed control points of an arc, linked to our research treatment planning system (TPS) for segment shape optimization (SSO) and segment weight optimization (SWO). For 27 test patients, the VMAT plans generated based on the deep learning prediction (VMATDL) were compared with VMAT plans generated with a previously validated automated treatment planning method (VMATref). For all test cases, the deep learning prediction accuracy, plan dosimetric quality, and the planning efficiency were quantified and analyzed. Main results. For all 27 test cases, the resulting plans were clinically acceptable. The V 95% for the PTV2 was greater than 99%, and the V 107% was below 0.2%. Statistically significant difference in target coverage was not observed between the VMATref and VMATDL plans (P = 0.3243 > 0.05). The dose sparing effect to the OARs between the two groups of plans was similar. Small differences were only observed for the Dmean of rectum and anus. Compared to the VMATref, the VMATDL reduced 29.3% of the optimization time on average. Significance. A fully automated VMAT plan generation method may result in significant improvement in prostate treatment planning efficiency. Due to the clinically acceptable dosimetric quality and high efficiency, it could potentially be used for clinical planning application and real-time adaptive therapy application after further validation.

A conjugate gradient-assisted multi-objective evolutionary algorithm for fluence map optimization in radiotherapy treatment

Intensity-modulated radiotherapy (IMRT) is one of the most applied techniques for cancer radiotherapy treatment. The fluence map optimization is an essential part of IMRT plan designing, which has a significant impact on the radiotherapy treatment effect. In fact, the treatment planing of IMRT is an inverse multi-objective optimization problem. Existing approaches of solving the fluence map optimization problem (FMOP) obtain a satisfied treatment plan via trying different coupling weights, the optimization process needs to be conducted many times and the coupling weight setting is completely based on the experience of a radiation physicist. For fast obtaining diverse high-quality radiotherapy plans, this paper formulates the FMOP into a three-objective optimization problem, and proposes a conjugate gradient-assisted multi-objective evolutionary algorithm (CG-MOEA) to solve it. The proposed algorithm does not need to set the coupling weights and can produce the diverse radiotherapy plans within a single run. Moreover, the convergence speed is further accelerated by an adaptive local search strategy based on the conjugate-gradient method. Compared with five state-of-the-art multi-objective evolutionary algorithms (MOEAs), the proposed CG-MOEA can obtain the best hypervolume (HV) values and dose–volume histogram (DVH) performance on five clinical cases in cancer radiotherapy. Moreover, the proposed algorithm not only obtains the more optimal solution than traditional method used to solve the FMOP, but also can find diverse Pareto solution set which can be provided to radiation physicist to select the best treatment plan. The proposed algorithm outperforms dose-volume histogram state-of-the-art multi-objective evolutionary algorithms and traditional method for FMOP on five clinical cases in cancer radiotherapy.

TBS-BAO: fully automated beam angle optimization for IMRT guided by a total-beam-space reference plan

Properly selected beam angles contribute to the quality of radiotherapy treatment plans. However, the beam angle optimization (BAO) problem is difficult to solve to optimality due to its non-convex discrete nature with many local minima. In this study, we propose TBS-BAO, a novel approach for solving the BAO problem, and test it for non-coplanar robotic CyberKnife radiotherapy for prostate cancer. First, an ideal Pareto-optimal reference dose distribution is automatically generated usinga priorimulti-criterial fluence map optimization (FMO) to generate a plan that includes all candidate beams (total-beam-space, TBS). Then, this ideal dose distribution is reproduced as closely as possible in a subsequent segmentation/beam angle optimization step (SEG/BAO), while limiting the number of allowed beams to a user-selectable preset value. SEG/BAO aims at a close reproduction of the ideal dose distribution. For each of 33 prostate SBRT patients, 18 treatment plans with different pre-set numbers of allowed beams were automatically generated with the proposed TBS-BAO. For each patient, the TBS-BAO plans were then compared to a plan that was automatically generated with an alternative BAO method (Erasmus-iCycle) and to a high-quality manually generated plan. TBS-BAO was able to automatically generate plans with clinically feasible numbers of beams (∼25), with a quality highly similar to corresponding 91-beam ideal reference plans. Compared to the alternative Erasmus-iCycle BAO approach, similar plan quality was obtained for 25-beam segmented plans, while computation times were reduced from 10.7 hours to 4.8/1.5 hours, depending on the applied pencil-beam resolution in TBS-BAO. 25-beam TBS-BAO plans had similar quality as manually generated plans with on average 48 beams, while delivery times reduced from 22.3 to 18.4/18.1 min. TBS reference plans could effectively steer the discrete non-convex BAO.

Automated and Clinically Optimal Treatment Planning for Cancer Radiotherapy

Each year, approximately 18 million new cancer cases are diagnosed worldwide, and about half must be treated with radiotherapy. A successful treatment requires treatment planning with the customization of penetrating radiation beams to sterilize cancerous cells without harming nearby normal organs and tissues. This process currently involves extensive manual tuning of parameters by an expert planner, making it a time-consuming and labor-intensive process, with quality and immediacy of critical care dependent on the planner's expertise. To improve the speed, quality, and availability of this highly specialized care, Memorial Sloan Kettering Cancer Center developed and applied advanced optimization tools to this problem (e.g., using hierarchical constrained optimization, convex approximations, and Lagrangian methods). This resulted in both a greatly improved radiotherapy treatment planning process and the generation of reliable and consistent high-quality plans that reflect clinical priorities. These improved techniques have been the foundation of high-quality treatments and have positively impacted over 4,000 patients to date, including numerous patients in severe pain and in urgent need of treatment who might have otherwise required longer hospital stays or undergone unnecessary surgery to control the progression of their disease. We expect that the wide distribution of the system we developed will ultimately impact patient care more broadly, including in resource-constrained countries.

Evaluation of alternative parameter settings for dose restoration and full plan adaptation in IMPT for prostate cancer

BACKGROUND/PURPOSE

Intensity-modulated proton therapy is highly sensitive to anatomical variations. A dose restoration method and a full plan adaptation method have been developed earlier, both requiring several parameter settings. This study evaluates the validity of the previously selected settings by systematically comparing them to alternatives.

MATERIALS/METHODS

The dose restoration method takes a prior plan and uses an energy-adaptation followed by a spot-intensity re-optimization to restore the plan to its initial state. The full adaptation method uses an energy-adaptation followed by the addition of new spots and a spot-intensity optimization to fit the new anatomy. We varied: 1) The margins and robustness settings of the prior plan, 2) the spot-addition sample size, i.e. the number of added spots, 3) the spot-addition stopping criterion, and 4) the spot-intensity optimization approach. The last three were evaluated only for the full plan adaptation. Evaluations were done on 88 CT scans of 11 prostate cancer patients. Dose was prescribed as 55 Gy(RBE) to the lymph nodes and seminal vesicles with a boost to 74 Gy(RBE) to the prostate.

RESULTS

For the dose restoration method, changing the applied CTV-to-PTV margins and plan robustness in the prior plans yielded insufficient target coverage or increased OAR doses. For the full plan adaptation, more spot-addition iterations and using a different optimization approach resulted in lower OAR doses compared to the default settings while maintaining target coverage. However, the calculation times increased by up to 20 times, making these variations infeasible for online-adaptation.

CONCLUSION

We recommend maintaining the default setting for the dose restoration approach. For the full plan adaptation we recommend to focus on fine-tuning the optimization-parameters, and apart from this using the default settings.

Customization of a Model For Knowledge-Based Planning to Achieve Ideal Dose Distributions in Volume Modulated arc Therapy for Pancreatic Cancers

Purpose:

To evaluate customizing a knowledge-based planning (KBP) model using dosimetric analysis for volumetric modulated arc therapy for pancreatic cancer.

Materials and Methods:

The first model (M1) using 56 plans and the second model (M2) using 31 plans were created in the first 7 months of the study. The ratios of volume of both kidneys overlapping the expanded planning target volume to the total volume of both kidneys (V_overlap/V_whole) were calculated in all cases to customize M1. Regression lines were derived from V_overlap/V_whole and mean dose to both kidneys. The third model (M3) was created using 30 plans which data put them below the regression line. For validation, KBP was performed with the three models on 21 patients.

Results:

V₁₈ of the left kidney for M1 plans was 7.3% greater than for clinical plans. Dmean of the left kidney for M2 plans was 2.2% greater than for clinical plans. There was no significant difference between all kidney doses in M3 and clinical plans. Dmean of the left kidney for M2 plans was 2.2% greater than for clinical plans. Dmean to both kidneys did not differ significantly between the three models in validation plans with V_overlap/V_whole lower than average. In plans with larger than average volumes, the Dmean of validation plans created by M3 was significantly lower for both kidneys by 1.7 and 0.9 Gy than with M1 and M2, respectively.

Conclusions:

Selecting plans to register in a model by analyzing dosimetry and geometry is an effective means of improving the KBP model.

A reinforcement learning application of a guided Monte Carlo Tree Search algorithm for beam orientation selection in radiation therapy

Current beam orientation optimization algorithms for radiotherapy, such as column generation (CG), are typically heuristic or greedy in nature because of the size of the combinatorial problem, which leads to suboptimal solutions. We propose a reinforcement learning strategy using a Monte Carlo Tree Search (MCTS) that can find a better beam orientation set in less time than CG. We utilize a reinforcement learning structure involving a supervised learning network to guide the MCTS and to explore the decision space of beam orientation selection problems. We previously trained a deep neural network (DNN) that takes in the patient anatomy, organ weights, and current beams, then approximates beam fitness values to indicate the next best beam to add. Here, we use this DNN to probabilistically guide the traversal of the branches of the Monte Carlo decision tree to add a new beam to the plan. To assess the feasibility of the algorithm, we used a test set of 13 prostate cancer patients, distinct from the 57 patients originally used to train and validate the DNN, to solve five-beam plans. To show the strength of the guided MCTS (GTS) compared to other search methods, we also provided the performances of Guided Search, Uniform Tree Search and Random Search algorithms. On average, GTS outperformed all the other methods. It found a better solution than CG in 237 s on average, compared to 360 s for CG, and outperformed all other methods in finding a solution with a lower objective function value in less than 1000 s. Using our GTS method, we could maintain planning target volume (PTV) coverage within 1% error similar to CG, while reducing the organ-at-risk mean dose for body, rectum, left and right femoral heads; the mean dose to bladder was 1% higher with GTS than with CG.

Robust dose-painting-by-numbers vs. nonselective dose escalation for non-small cell lung cancer patients

Purpose

Theoretical studies have shown that dose‐painting‐by‐numbers (DPBN) could lead to large gains in tumor control probability (TCP) compared to conventional dose distributions. However, these gains may vary considerably among patients due to (a) variations in the overall radiosensitivity of the tumor, (b) variations in the 3D distribution of intra‐tumor radiosensitivity within the tumor in combination with patient anatomy, (c) uncertainties of the 3D radiosensitivity maps, (d) geometrical uncertainties, and (e) temporal changes in radiosensitivity. The goal of this study was to investigate how much of the theoretical gains of DPBN remain when accounting for these factors. DPBN was compared to both a homogeneous reference dose distribution and to nonselective dose escalation (NSDE), that uses the same dose constraints as DPBN, but does not require 3D radiosensitivity maps.

Methods

A fully automated DPBN treatment planning strategy was developed and implemented in our in‐house developed treatment planning system (TPS) that is robust to uncertainties in radiosensitivity and patient positioning. The method optimized the expected TCP based on 3D maps of intra‐tumor radiosensitivity, while accounting for normal tissue constraints, uncertainties in radiosensitivity, and setup uncertainties. Based on FDG‐PETCT scans of 12 non‐small cell lung cancer (NSCLC) patients, data of 324 virtual patients were created synthetically with large variations in the aforementioned parameters. DPBN was compared to both a uniform dose distribution of 60 Gy, and NSDE. In total, 360 DPBN and 24 NSDE treatment plans were optimized.

Results

The average gain in TCP over all patients and radiosensitivity maps of DPBN was 0.54 ± 0.20 (range 0–0.97) compared to the 60 Gy uniform reference dose distribution, but only 0.03 ± 0.03 (range 0–0.22) compared to NSDE. The gains varied per patient depending on the radiosensitivity of the entire tumor and the 3D radiosensitivity maps. Uncertainty in radiosensitivity led to a considerable loss in TCP gain, which could be recovered almost completely by accounting for the uncertainty directly in the optimization.

Conclusions

Our results suggest that the gains of DPBN can be considerable compared to a 60 Gy uniform reference dose distribution, but small compared to NSDE for most patients. Using the robust DPBN treatment planning system developed in this work, the optimal DPBN treatment plan could be derived for any patient for whom 3D intra‐tumor radiosensitivity maps are known, and can be used to select patients that might benefit from DPBN. NSDE could be an effective strategy to increase TCP without requiring biological information of the tumor.

Solving the volumetric modulated arc therapy (VMAT) problem using a sequential convex programming method

The volumetric modulated arc therapy (VMAT) problem is highly non-convex and much more difficult than the fixed-field intensity modulated radiotherapy optimization problem. To solve it efficiently, we propose a sequential convex programming algorithm that solves a sequence of convex optimization problems. Beginning by optimizing the aperture weights of many (72) evenly distributed beams using the beam's eye view of the target from each direction as the initial aperture shape, the search space is constrained to allowing the leaves to move within a pre-defined step-size. A convex approximation problem is introduced and solved to optimize the leaf positions and the aperture weights within the search space. The algorithm is equipped with both local and global search strategies, whereby a global search is followed by a local search: a large step-size results in a global search with a less accurate convex approximation, followed by a small step-size local search with an accurate convex approximation. The performance of the proposed algorithm is tested on three patients with three different disease sites (paraspinal, prostate and oligometastasis). The algorithm generates VMAT plans comparable to the ideal 72-beam fluence map optimized plans (i.e. IMRT plans before leaf sequencing) in 14 iterations and 36 mins on average. The algorithm is also tested on a small down-sampled prostate case for which we could computationally afford to obtain the ground-truth by solving the non-convex mixed-integer optimization problem exactly. This general algorithm is able to produce results essentially equivalent to the ground-truth but 12 times faster. The algorithm is also scalable and can handle real clinical cases, whereas the ground-truth solution using mixed-integer optimization can only be obtained for highly down-sampled cases.

Optimization in treatment planning of high dose-rate brachytherapy - Review and analysis of mathematical models

Treatment planning in high dose-rate brachytherapy has traditionally been conducted with manual forward planning, but inverse planning is today increasingly used in clinical practice. There is a large variety of proposed optimization models and algorithms to model and solve the treatment planning problem. Two major parts of inverse treatment planning for which mathematical optimization can be used are the decisions about catheter placement and dwell time distributions. Both these problems as well as integrated approaches are included in this review. The proposed models include linear penalty models, dose-volume models, mean-tail dose models, quadratic penalty models, radiobiological models, and multiobjective models. The aim of this survey is twofold: (i) to give a broad overview over mathematical optimization models used for treatment planning of brachytherapy and (ii) to provide mathematical analyses and comparisons between models. New technologies for brachytherapy treatments and methods for treatment planning are also discussed. Of particular interest for future research is a thorough comparison between optimization models and algorithms on the same dataset, and clinical validation of proposed optimization approaches with respect to patient outcome.

A cooperative game solution approach for intensity modulated radiation therapy design: Nash Social Welfare optimization

We study the fluency map optimization problem in Intensity Modulated Radiation Therapy (IMRT) from a cooperative game theory point of view. We consider the cancerous and healthy organs in a patient's body as players of a game, where cancerous organs seek to eliminate the cancerous cells and healthy organs seek to receive no harm. The goal is to balance the trade-offs between the utility of players by forming a grand coalition between them. We do so by proposing a methodology that solves a few convex optimization problems in order to transform the fluency map optimization problem into a bargaining game. To solve the bargaining game, we employ the concept of Nash Social Welfare (NSW) optimization due to the desirable efficiency and fairness properties of its outcomes. The proposed NSW optimization is convex and can be solved by powerful commercial solvers such as CPLEX. An additional advantage of the proposed approach is that it has a new control lever for the fluency map optimization, the so-called negotiation powers, which enables practitioners to put more emphasis on an organ by changing its negotiation power. To show the efficacy of our proposed methodology, we apply it to the TG-119 case and a liver case. We compare our proposed approach with a state-of-the-art approach through creating Dose Volume Histograms.

Online-adaptive versus robust IMPT for prostate cancer: How much can we gain?

BACKGROUND/PURPOSE

Intensity-modulated proton therapy (IMPT) is highly sensitive to anatomical variations which can cause inadequate target coverage during treatment. Available mitigation techniques include robust treatment planning and online-adaptive IMPT. This study compares a robust planning strategy to two online-adaptive IMPT strategies to determine the benefit of online adaptation.

MATERIALS/METHODS

We derived the robustness settings and safety margins needed to yield adequate target coverage (V_95%≥98%) for >90% of 11 patients in a prostate cancer cohort (88 repeat CTs). For each patient, we also adapted a non-robust prior plan using a simple restoration and a full adaptation method. The restoration uses energy-adaptation followed by a fast spot-intensity re-optimization. The full adaptation uses energy-adaptation followed by the addition of new spots and a range-robust spot-intensity optimization. Dose was prescribed as 55 Gy(RBE) to the low-dose target (lymph nodes and seminal vesicles) with a boost to 74 Gy(RBE) to the high-dose target (prostate). Daily patient set-up was simulated using implanted intra-prostatic markers.

RESULTS

Margins of 4 and 8 mm around the high- and low-dose target regions, a 6 mm setup error and a 3% range error were found to obtain adequate target coverage for all repeat CTs of 10/11 patients (94.3% of all 88 repeat CTs). Both online-adaptive strategies yielded V_95%≥98% and better OAR sparing in 11/11 patients. Median OAR improvements up to 11%-point and 16%-point were observed when moving from robust planning to respectively restoration and full adaption.

CONCLUSION

Both full plan adaptation and simple dose restoration can increase OAR sparing besides better conforming to the target criteria compared to robust treatment planning.

Automated Radiotherapy Planning for Patient-Specific Exploration of the Trade-Off Between Tumor Dose Coverage and Predicted Radiation-Induced Toxicity-A Proof of Principle Study for Prostate Cancer

Background: Currently, radiation-oncologists generally evaluate a single treatment plan for each patient that is possibly adapted by the planner prior to final approval. There is no systematic exploration of patient-specific trade-offs between planning aims, using a set of treatment plans with a-priori defined (slightly) different balances. To this purpose, we developed an automated workflow and explored its use for prostate cancer. Materials and Methods: For each of the 50 study patients, seven plans were generated, including the so-called clinical plan, with currently clinically desired ≥99% dose coverage for the low-dose planning target volume (PTVLow). The six other plans were generated with different, reduced levels of PTVLow coverage, aiming at reductions in rectum dose and consequently in predicted grade≥2 late gastro-intestinal (GI) normal tissue complication probabilities (NTCPs), while keeping other dosimetric differences small. The applied NTCP model included diabetes as a non-dosimetric predictor. All plans were generated with a clinically applied, in-house developed algorithm for automated multi-criterial plan generation. Results: With diabetes, the average NTCP reduced from 24.9 ± 4.5% for ≥99% PTVLow coverage to 17.3 ± 2.6% for 90%, approaching the NTCP (15.4 ± 3.0%) without diabetes and full PTVLow coverage. Apart from intended differences in PTVLow coverage and rectum dose, other differences between the clinical plan and the six alternatives were indeed minor. Obtained NTCP reductions were highly patient-specific (ranging from 14.4 to 0.1%), depending on patient anatomy. Even for patients with equal NTCPs in the clinical plan, large differences were found in NTCP reductions. Conclusions: A clinically feasible workflow has been proposed for systematic exploration of patient-specific trade-offs between various treatment aims. For each patient, automated planning is used to generate a limited set of treatment plans with well-defined variations in the balances between the aims. For prostate cancer, trade-offs between PTVLow coverage and predicted GI NTCP were explored. With relatively small coverage reductions, significant NTCP reductions could be obtained, strongly depending on patient anatomy. Coverage reductions could also make up for enhanced NTCPs related to diabetes as co-morbidity, again dependent on the patient. The proposed system can play an important role in further personalization of patient care.

A plan template‐based automation solution using a commercial treatment planning system

Purpose

The purpose of this study was to develop an auto‐planning platform to be interfaced with a commercial treatment planning system (TPS). The main goal was to obtain robust and high‐quality plans for different anatomic sites and various dosimetric requirements.

Methods

Monaco (Elekta, St. Louis, US) was the TPS in this work. All input parameters for inverse planning could be defined in a plan template inside Monaco. A software tool called Robot Framework was used to launch auto‐planning trials with updated plan templates. The template modifier external to Monaco was the major component of our auto‐planning platform. For current implementation, it was a rule‐based system that mimics the trial‐and‐error process of an experienced planner. A template was automatically updated by changing the optimization constraints based on dosimetric evaluation of the plan obtained in the previous trial, along with the data of the iterative optimization extracted from Monaco. Treatment plans generated by Monaco with all plan evaluation criteria satisfied were considered acceptable, and such plans would be saved for further evaluation by clinicians. The auto‐planning platform was validated for 10 prostate and 10 head‐and‐neck cases in comparison with clinical plans generated by experienced planners.

Results

The performance and robustness of our auto‐planning platform was tested with clinical cases of prostate and head and neck treatment. For prostate cases, automatically generated plans had very similar plan quality with the clinical plans, and the bladder volume receiving 62.5 Gy, 50 Gy, and 40 Gy in auto‐plans was reduced by 1%, 3%, and 5%, respectively. For head and neck cases, auto‐plans had better conformity with reduced dose to the normal structures but slightly higher dose inhomogeneity in the target volume. Remarkably, the maximum dose in the spinal cord and brain stem was reduced by more than 3.5 Gy in auto‐plans. Fluence map optimization only with less than 30 trials was adequate to generate acceptable plans, and subsequent optimization for final plans was completed by Monaco without further intervention. The plan quality was weakly dependent on the parameter selection in the initial template and the choices of the step sizes for changing the constraint values.

Conclusion

An automated planning platform to interface with Monaco was developed, and our reported tests showed preliminary results for prostate and head and neck cases.

Automated proton treatment planning with robust optimization using constrained hierarchical optimization

PURPOSE

We present a method for fully automated generation of high quality robust proton treatment plans using hierarchical optimization. To fill the gap between the two common extreme robust optimization approaches, that is, stochastic and worst-case, a robust optimization approach based on the p-norm function is used whereby a single parameter, p , can be used to control the level of robustness in an intuitive way.

METHODS

A fully automated approach to treatment planning using Expedited Constrained Hierarchical Optimization (ECHO) is implemented in our clinic for photon treatments. ECHO strictly enforces critical (inviolable) clinical criteria as hard constraints and improves the desirable clinical criteria sequentially, as much as is feasible. We extend our in-house developed ECHO codes for proton therapy and integrate it with a new approach for robust optimization. Multiple scenarios accounting for both setup and range uncertainties are included (13scenarios), and the maximum/mean/dose-volume constraints on organs-at-risk (OARs) and target are fulfilled in all scenarios. We combine the objective functions of the individual scenarios using the p-norm function. The p-norm with a parameter p = 1 or p = ∞ result in the stochastic or the worst-case approach, respectively; an intermediate robustness level is obtained by employing p -values in-between. While the worst-case approach only focuses on the worst-case scenario(s), the p-norm approach with a large p value ( p ≈ 20 ) resembles the worst-case approach without completely neglecting other scenarios. The proposed approach is evaluated on three head-and-neck (HN) patients and one water phantom with different parameters, p ∈ 1 , 2 , 5 , 10 , 20 . The results are compared against the stochastic approach (p-norm approach with p = 1 ) and the worst-case approach, as well as the nonrobust approach (optimized solely on the nominal scenario).

RESULTS

The proposed algorithm successfully generates automated robust proton plans on all cases. As opposed to the nonrobust plans, the robust plans have narrower dose volume histogram (DVH) bands across all 13 scenarios, and meet all hard constraints (i.e., maximum/mean/dose-volume constraints) on OARs and the target for all scenarios. The spread in the objective function values is largest for the stochastic approach ( p = 1 ) and decreases with increasing p toward the worst-case approach. Compared to the worst-case approach, the p-norm approach results in DVH bands for clinical target volume (CTV) which are closer to the prescription dose at a negligible cost in the DVH for the worst scenario, thereby improving the overall plan quality. On average, going from the worst-case approach to the p-norm approach with p = 20 , the median objective function value across all the scenarios is improved by 15% while the objective function value for the worst scenario is only degraded by 3%.

CONCLUSION

An automated treatment planning approach for proton therapy is developed, including robustness, dose-volume constraints, and the ability to control the robustness level using the p-norm parameter p , to fit the priorities deemed most important.

Knowledge-based planning for oesophageal cancers using a model trained with plans from a different treatment planning system

Background: This study aimed to evaluate knowledge-based volume modulated arc therapy (VMAT) plans for oesophageal cancers using a model trained with plans optimised with a different treatment planning system (TPS) and to compare lung dose sparing in two TPSs, Eclipse and RayStation.Materials and methods: A total of 64 patients with stage I-III oesophageal cancers were treated using hybrid VMAT (H-VMAT) plans optimised using RayStation. Among them, 40 plans were used for training the model for knowledge-based planning (KBP) in RapidPlan. The remaining 24 plans were recalculated using RapidPlan to validate the KBP model. H-VMAT plans calculated using RapidPlan were compared with H-VMAT plans optimised using RayStation with respect to planning target volume doses, lung doses, and modulation complexity.Results: In the lung, there were significant differences between the volume ratios receiving doses in excess of 5, 10, and 20 Gy (V₅, V₁₀, and V₂₀). The V₅ for the lung with H-VMAT plans optimised using RapidPlan was significantly higher than that of H-VMAT plans optimised using RayStation (p < .01), with a mean difference of 10%. Compared to H-VMAT plans optimised using RayStation, the V₁₀ and V₂₀ for the lung were significantly lower with H-VMAT plans optimised using RapidPlan (p = .04 and p = .02), with differences exceeding 1.0%. In terms of modulation complexity, the change in beam output at each control point was more constant with H-VMAT plans optimised using RapidPlan than with H-VMAT plans optimised using RayStation. The range of the change with H-VMAT plans optimised using RapidPlan was one third that of H-VMAT plans optimised using RayStation.Conclusion: Two optimisers in Eclipse and RayStation had different dosimetric performance in lung sparing and modulation complexity. RapidPlan could not improve low lung doses, however, it provided an appreciate intermediated doses compared to plans optimised with RayStation.

Automatic configuration of the reference point method for fully automated multi-objective treatment planning applied to oropharyngeal cancer

Purpose

In automated treatment planning, configuration of the underlying algorithm to generate high‐quality plans for all patients of a particular tumor type can be a major challenge. Often, a time‐consuming trial‐and‐error tuning procedure is required. The purpose of this paper is to automatically configure an automated treatment planning algorithm for oropharyngeal cancer patients.

Methods

Recently, we proposed a new procedure to automatically configure the reference point method (RPM), a fast automatic multi‐objective treatment planning algorithm. With a well‐tuned configuration, the RPM generates a single Pareto optimal treatment plan with clinically favorable trade‐offs for each patient. The automatic configuration of the RPM requires a set of computed tomography (CT) scans with corresponding dose distributions for training. Previously, we demonstrated for prostate cancer planning with 12 objectives that training with only 9 patients resulted in high‐quality configurations. This paper further develops and explores the new automatic RPM configuration procedure for head and neck cancer planning with 22 objectives. Investigations were performed with planning CT scans of 105 previously treated unilateral or bilateral oropharyngeal cancer patients together with corresponding Pareto optimal treatment plans. These plans were generated with our clinically applied two‐phase ε‐constraint method (Erasmus‐iCycle) for automated multi‐objective treatment planning, ensuring consistent high quality and Pareto optimality of all plans. Clinically relevant, nonconvex criteria, such as dose‐volume parameters and NTCPs, were included to steer the RPM configuration.

Results

Training sets with 20–50 patients were investigated. Even with 20 training plans, high‐quality configurations of the RPM were feasible. Automated plan generation with the automatically configured RPM resulted in Pareto optimal plans with overall similar or better quality than that of the Pareto optimal database plans.

Conclusions

Automatic configuration of the RPM for automated treatment planning is feasible and drastically reduces the time and workload required when compared to manual tuning of an automated treatment planning algorithm.

Integrating soft and hard dose-volume constraints into hierarchical constrained IMRT optimization

PURPOSE

Dose-volume constraints (DVCs) continue to be common features in intensity-modulated radiation therapy (IMRT) prescriptions, but they are non-convex and difficult to incorporate. We propose computationally efficient methods to incorporate dose-volume constraints (DVCs) into automated IMRT planning.

METHODS

We propose a two-phase approach: in phase-1, we solve a convex approximation with DVCs. Although this convex approximation does not guarantee DVC satisfaction, it provides crucial initial information about voxels likely to receive doses below DVC thresholds. Subsequently, phase-2 solves an optimization problem with maximum dose constraints imposed on those subthreshold voxels. We further categorize DVCs into hard- and soft-DVCs, where hard-DVCs are strictly enforced by the optimization and soft-DVCs are encouraged in the objective function. We tested this approach in our automated treatment planning system which is based on hierarchical constrained optimization. Performance is demonstrated on a series of paraspinal, lung, oligometastasis, and prostate cases as well as a small paraspinal case for which we can computationally afford to obtain a ground-truth by solving a non-convex optimization problem.

RESULTS

The proposed algorithm successfully meets all the hard-DVCs while increasing the overall computational time of the baseline planning process (without DVCs) by 20%, 10%, and 11% for paraspinal, oligometastasis, and prostate cases, respectively. For a soft-DVC applied to the lung case, the dose-volume histogram curve moves toward the desired direction and the computational time is increased by 11%. For a low-resolution paraspinal case, the ground-truth solution process using mixed-integer programming methods required 15 h while the proposed algorithm converges in only 2 min with a proximal solution.

CONCLUSIONS

A computationally tractable algorithm to handle hard- and soft-DVCs is developed which is capable of satisfying DVCs without any parameter tweaking. Although the algorithm is demonstrated in our in-house developed automated treatment planning system, it can potentially be used in any constrained optimization framework.

Clinical Experience of Automated SBRT Paraspinal and Other Metastatic Tumor Planning With Constrained Hierarchical Optimization

Purpose

We report on the clinical performance of a fully automated approach to treatment planning based on a Pareto optimal, constrained hierarchical optimization algorithm, named Expedited Constrained Hierarchical Optimization (ECHO).

Methods and materials

From April 2017 to October 2018, ECHO produced 640 treated plans for 523 patients who underwent stereotactic body radiation therapy (RT) for paraspinal and other metastatic tumors. A total of 182 plans were for 24 Gy in a single fraction, 387 plans were for 27 Gy in 3 fractions, and the remainder were for other prescriptions or fractionations. Of the plans, 84.5% were for paraspinal tumors, with 69, 302, and 170 in the cervical, thoracic, and lumbosacral spine, respectively. For each case, after contouring, a template plan using 9 intensity modulated RT fields based on disease site and tumor location was sent to ECHO through an application program interface plug-in from the treatment planning system. ECHO returned a plan that satisfied all critical structure hard constraints with optimal target volume coverage and the lowest achievable normal tissue doses. Upon ECHO completion, the planner received an e-mail indicating the plan was ready for review. The plan was accepted if all clinical criteria were met. Otherwise, a limited number of parameters could be adjusted for another ECHO run.

Results

The median planning target volume size was 84.3 cm³ (range, 6.9-633.2). The median time to produce 1 ECHO plan was 63.5 minutes (range, 11-340 minutes) and was largely dependent on the field sizes. Of the cases, 79.7% required 1 run to produce a clinically accepted plan, 13.3% required 1 additional run with minimal parameter adjustments, and 7.0% required ≥2 additional runs with significant parameter modifications. All plans met or bettered the institutional clinical criteria.

Conclusions

We successfully implemented automated stereotactic body RT paraspinal and other metastatic tumors planning. ECHO produced high-quality plans, improved planning efficiency and robustness, and enabled expedited treatment planning at our clinic.

Plan-library supported automated replanning for online-adaptive intensity-modulated proton therapy of cervical cancer

Background: Intensity-modulated proton therapy is sensitive to inter-fraction variations, including density changes along the pencil-beam paths and variations in organ-shape and location. Large day-to-day variations are seen for cervical cancer patients. The purpose of this study was to develop and evaluate a novel method for online selection of a plan from a patient-specific library of prior plans for different anatomies, and adapt it for the daily anatomy. Material and methods: The patient-specific library of prior plans accounting for altered target geometries was generated using a pretreatment established target motion model. Each fraction, the best fitting prior plan was selected. This prior plan was adapted using (1) a restoration of spot-positions (Bragg peaks) by adapting the energies to the new water equivalent path lengths; and (2) a spot addition to fully cover the target of the day, followed by a fast optimization of the spot-weights with the reference point method (RPM) to obtain a Pareto-optimal plan for the daily anatomy. Spot addition and spot-weight optimization could be repeated iteratively. The patient cohort consisted of six patients with in total 23 repeat-CT scans, with a prescribed dose of 45 Gy(RBE) to the primary tumor and the nodal CTV. Using a 1-plan-library (one prior plan based on all motion in the motion model) was compared to choosing from a 2-plan-library (two prior plans based on part of the motion). Results: Applying the prior-plan adaptation method with one iteration of adding spots resulted in clinically acceptable target coverage ( V95%≥95% and V107%≤2% ) for 37/46 plans using the 1-plan-library and 41/46 plans for the 2-plan-library. When adding spots twice, the 2-plan-library approach could obtain acceptable coverage for all scans, while the 1-plan-library approach showed V107%>2% for 3/46 plans. Similar OAR results were obtained. Conclusion: The automated prior-plan adaptation method can successfully adapt for the large day-to-day variations observed in cervical cancer patients.

Lower doses to hippocampi and other brain structures for skull-base meningiomas with intensity modulated proton therapy compared to photon therapy

BACKGROUND AND PURPOSE

Radiotherapy of skull-base meningiomas is challenging due to the close proximity of multiple sensitive organs at risk (OARs). This study systematically compared intensity modulated proton therapy (IMPT), non-coplanar volumetric modulated arc therapy (VMAT) and intensity modulated radiotherapy (IMRT) based on automated treatment planning. Differences in OARs sparing, with specific focus on the hippocampi, and low-dose delivery were quantified.

MATERIALS AND METHODS

Twenty patients, target diameter >3 cm, were included. Automated plan generation was used to calculate a VMAT plan with three non-coplanar arcs, an IMRT plan with nine non-coplanar beams with optimized gantry and couch angles, and an IMPT plan with three patient-specific selected non-coplanar beams. A prescription dose of 50.4 GyRBE in 28 fractions was used. The same set of constraints and prioritized objectives was used. All plans were rescaled to the same target coverage. Repeated measures ANOVA was used to assess the statistical significance of differences in OAR dose parameters between planning techniques.

RESULTS

Compared to VMAT and IMRT, IMPT significantly improved dose conformity to the target volume. Consequently, large dose reductions in OARs were observed. With respect to VMAT, the mean dose and D_40% in the bilateral hippocampus were on average reduced by 48% and 74%, respectively (p ≤ 0.005). With IMPT, the mean dose in the normal brain and volumes receiving 20-30 Gy were up to 47% lower (p ≤ 0.01). When comparing IMPT and IMRT, even larger dose differences in those OARs were observed.

CONCLUSION

For skull-base meningiomas IMPT allows for a considerable dose reduction in the hippocampi, normal brain and other OARs compared to both non-coplanar VMAT and IMRT, which may lead to a clinically relevant reduction of late neurocognitive side effects.

Fast and exact Hessian computation for a class of nonlinear functions used in radiation therapy treatment planning

In nonlinear optimisation, using exact Hessian computations (full-Newton) hold superior convergence properties over quasi-Newton methods or gradient-based methods. However, for medium-scale problems, computing the Hessian can be computationally expensive and thus time-consuming. For solvers dedicated to a specific problem type, it can be advantageous to hard-code optimised implementations to keep the computation time to a minimum. In this paper we derive a computationally efficient canonical form for a class of additively and multiplicatively separable functions. The major computational cost is reduced to a single multiplication of the data matrix with itself, allowing simple parallellisation on modern-day multi-core processors. We present the approach in the practical application of radiation therapy treatment planning, where this form appears for many common functions. In this case, the data matrices are the dose-influence matrices. The method is compared against automatic differentiation.

Comparison of two beam angular optimization algorithms guided by automated multicriterial IMRT

PURPOSE

To compare two beam angle optimization (BAO) algorithms for coplanar and non-coplanar geometries in a multicriterial optimization framework.

METHODS

40 nasopharynx patients were selected for this retrospective planning study. IMRT optimized plans were produced by Erasmus-iCycle multicriterial optimization platform. Two different algorithms, based on a discrete and on a continuous exploration of the space search, algorithm i and B respectively, were used to address BAO. Plan quality evaluation and comparison were performed with SPIDERplan. Statistically significant differences between the plans were also assessed.

RESULTS

For plans using only coplanar incidences, the optimized beam distribution with algorithm i is more asymmetric than with algorithm B. For non-coplanar beam optimization, larger deviations from coplanarity were obtained with algorithm i than with algorithm B. Globally, both algorithms presented near equivalent plan quality scores, with algorithm B presenting a marginally better performance than algorithm i.

CONCLUSION

Almost all plans presented high quality, profiting from multicriterial and beam angular optimization. Although there were not significant differences when average results over the entire sample were considered, a case-by-case analysis revealed important differences for some patients.

Robust contour propagation using deep learning and image registration for online adaptive proton therapy of prostate cancer

Purpose

To develop and validate a robust and accurate registration pipeline for automatic contour propagation for online adaptive Intensity‐Modulated Proton Therapy (IMPT) of prostate cancer using elastix software and deep learning.

Methods

A three‐dimensional (3D) Convolutional Neural Network was trained for automatic bladder segmentation of the computed tomography (CT) scans. The automatic bladder segmentation alongside the computed tomography (CT) scan is jointly optimized to add explicit knowledge about the underlying anatomy to the registration algorithm. We included three datasets from different institutes and CT manufacturers. The first was used for training and testing the ConvNet, where the second and the third were used for evaluation of the proposed pipeline. The system performance was quantified geometrically using the dice similarity coefficient (DSC), the mean surface distance (MSD), and the 95% Hausdorff distance (HD). The propagated contours were validated clinically through generating the associated IMPT plans and compare it with the IMPT plans based on the manual delineations. Propagated contours were considered clinically acceptable if their treatment plans met the dosimetric coverage constraints on the manual contours.

Results

The bladder segmentation network achieved a DSC of 88% and 82% on the test datasets. The proposed registration pipeline achieved a MSD of 1.29 ± 0.39, 1.48 ± 1.16, and 1.49 ± 0.44 mm for the prostate, seminal vesicles, and lymph nodes, respectively, on the second dataset and a MSD of 2.31 ± 1.92 and 1.76 ± 1.39 mm for the prostate and seminal vesicles on the third dataset. The automatically propagated contours met the dose coverage constraints in 86%, 91%, and 99% of the cases for the prostate, seminal vesicles, and lymph nodes, respectively. A Conservative Success Rate (CSR) of 80% was obtained, compared to 65% when only using intensity‐based registration.

Conclusion

The proposed registration pipeline obtained highly promising results for generating treatment plans adapted to the daily anatomy. With 80% of the automatically generated treatment plans directly usable without manual correction, a substantial improvement in system robustness was reached compared to a previous approach. The proposed method therefore facilitates more precise proton therapy of prostate cancer, potentially leading to fewer treatment‐related adverse side effects.

Automated intensity modulated treatment planning: The expedited constrained hierarchical optimization (ECHO) system

PURPOSE

To develop and implement a fully automated approach to intensity modulated radiation therapy (IMRT) treatment planning.

METHOD

The optimization algorithm is developed based on a hierarchical constrained optimization technique and is referred internally at our institution as expedited constrained hierarchical optimization (ECHO). Beamlet contributions to regions-of-interest are precomputed and captured in the influence matrix. Planning goals are of two classes: hard constraints that are strictly enforced from the first step (e.g., maximum dose to spinal cord), and desirable goals that are sequentially introduced in three constrained optimization problems (better planning target volume (PTV) coverage, lower organ at risk (OAR) doses, and smoother fluence map). After solving the optimization problems using external commercial optimization engines, the optimal fluence map is imported into an FDA-approved treatment planning system (TPS) for leaf sequencing and accurate full dose calculation. The dose-discrepancy between the optimization and TPS dose calculation is then calculated and incorporated into optimization by a novel dose correction loop technique using Lagrange multipliers. The correction loop incorporates the leaf sequencing and scattering effects into optimization to improve the plan quality and reduce the calculation time. The resultant optimal fluence map is again imported into TPS for leaf sequencing and final dose calculation for plan evaluation and delivery. The workflow is automated using application program interface (API) scripting, requiring user interaction solely to prepare the contours and beam arrangement prior to launching the ECHO plug-in from the TPS. For each site, parameters and objective functions are chosen to represent clinical priorities. The first site chosen for clinical implementation was metastatic paraspinal lesions treated with stereotactic body radiotherapy (SBRT). As a first step, 75 ECHO paraspinal plans were generated retrospectively and compared with clinically treated plans generated by planners using VMAT (volumetric modulated arc therapy) with 4 to 6 partial arcs. Subsequently, clinical deployment began in April, 2017.

RESULTS

In retrospective study, ECHO plans were found to be dosimetrically superior with respect to tumor coverage, plan conformity, and OAR sparing. For example, the average PTV D95%, cord and esophagus max doses, and Paddick Conformity Index were improved, respectively, by 1%, 6%, 14%, and 15%, at a negligible 3% cost of the average skin D10cc dose.

CONCLUSION

Hierarchical constrained optimization is a powerful and flexible tool for automated IMRT treatment planning. The dosimetric correction step accurately accounts for detailed dosimetric multileaf collimator and scattering effects. The system produces high-quality, Pareto optimal plans and avoids the time-consuming trial-and-error planning process.

Integrating DVH criteria into a column generation algorithm for VMAT treatment planning

Volumetric-modulated arc therapy (VMAT) treatment planning is an efficient treatment technique with a high degree of flexibility in terms of dose rate, gantry speed, and aperture shapes during rotation around the patient. However, the dynamic nature of VMAT results in a large-scale nonconvex optimization problem. Determining the priority of the tissues and voxels to obtain clinically acceptable treatment plans poses additional challenges for VMAT optimization. The main purpose of this paper is to develop an automatic planning approach integrating dose-volume histogram (DVH) criteria in direct aperture optimization for VMAT, by adjusting the model parameters during the algorithm. The proposed algorithm is based on column generation, an optimization technique that sequentially generates the apertures and optimizes the corresponding intensities. We take the advantage of iterative procedure in this method to modify the weight vector of the penalty function based on the DVH criteria and decrease the use of trial-and-error in the search for clinically acceptable plans. We evaluate the efficiency of the algorithm and treatment quality using a clinical prostate case and a challenging head-and-neck case. In both cases, we generate 15 random initial weight vectors to assess the robustness of the algorithm. In the prostate case, our methodology obtained clinically acceptable plans in all instances with only a 10% increase in the computational time, while simple VMAT optimization found just three acceptable plans. To have an idea with respect to the existing software, we compared the obtained DVH to a commercial software. The quality of the diagrams of the proposed method, especially for the healthy tissues, is significantly better while the computational time is less. In the head-and-neck case, 93.3% of the clinically acceptable plans are obtained while no plan was acceptable in simple VMAT. In sum, the results demonstrate the ability of the proposed optimization algorithm to obtain clinically acceptable plans without human intervention and also its robustness to weight parameters. Moreover, our proposed weight adjustment procedure proves to reduce the symmetry in the solution space and the time required for the post-optimization phase.

Automatically configuring the reference point method for automated multi-objective treatment planning

Automated treatment planning algorithms have demonstrated capability in generating consistent and high-quality treatment plans. Their configuration (i.e. determining the algorithm's parameters), however, can be a labour-intensive and time-consuming trial-and-error procedure. Previously, we introduced the reference point method (RPM) for fast automated multi-objective treatment planning. The RPM generates a single Pareto optimal plan for each patient. When the RPM is configured appropriately, this plan has clinically favourable trade-offs between all plan objectives. This paper proposes a new procedure to automatically generate a single configuration of the RPM per tumour site. The procedure was tested for prostate cancer. Planning CT scans of 287 previously treated patients were included in a database, together with corresponding Pareto optimal plans generated using our clinically applied two-phase [Formula: see text]-constraint method (part of Erasmus-iCycle) for automated multi-objective treatment planning. The procedure developed acquires plan characteristics observed in a training set. Based on these, an RPM configuration is automatically generated according to user preferences which specify acceptable differences between training set plans and corresponding RPM generated plans. For example, compared to the training set plans, the RPM generated plans need to have similar PTV coverage, and preferably reduced high rectum dose while slight deteriorations in other objectives are allowed. Training sets of different sizes were tested, and the quality of the resulting RPM configurations was evaluated on the test set (subset of the database not used for training). Using the new procedure, an RPM configuration was generated for each training set. The quality of RPM generated plans was similar or slightly better than that of the corresponding test set plans. The proposed automated configuration procedure greatly reduces the manual configuration workload, and thereby improves the efficiency and effectiveness of an automated clinical treatment planning workflow.

Knowledge-based dose prediction models for head and neck cancer are strongly affected by interorgan dependency and dataset inconsistency

PURPOSE

The goal of this study was to generate a large treatment plan database for head and neck (H&N) cancer patients that can be considered as the gold standard to train and validate models for knowledge-based (KB) treatment planning and QA. With this dataset, the intrinsic prediction performance, the effect of interorgan dependency, and the impact of dataset inconsistency was investigated for an existing treatment planning QA model.

METHODS

The CT scans of 108 previously treated oropharyngeal patients were used to establish the plan database. For each patient, 15 Pareto optimal treatment plans with different planning priorities for the parotid glands were generated with fully automatic multicriterial treatment planning (1620 plans in total). For each of the 15 sets of plans in the database, a KB model was trained with 54 patients and validated on the other 54 by comparing the predictions with the achieved doses. The dose prediction accuracy (predicted-achieved) of the KB models was assessed and compared among the different models to characterize the intrinsic performance and effect of interorgan dependency. In addition, the effect of dataset inconsistency with respect to planning prioritizations was investigated by mixing plans with different prioritizations, for the training, the validation dataset, and for both combined.

RESULTS

In the case of a high planning priority, the mean ± SD of the prediction error for the mean dose of the parotid glands was only 0.2 ± 2.2 Gy, but this increased to 1.0 ± 5.0 Gy in the case that the parotid glands had a low planning priority. Dataset inconsistency (in planning priority) led to a large increase in prediction error for the parotid glands (mean ± SD) from 0.2 ± 2.2 Gy to 2.8 ± 3.3 Gy, -3.2 ± 5.0 Gy or -0.6 ± 5.4 Gy, depending on the way the datasets were mixed.

CONCLUSIONS

The generated plan database can be used to validate and characterize KB prediction models for H&N cancer and will be made available upon request. The investigated KB model performed well in case the parotid glands had a high planning priority (little dependence on lower priority OARs), but poorly for organs for which the dose strongly depends on other higher priority OARs. To improve the performance of KB prediction models for H&N cancer, interorgan dependency should be modeled and accounted for. Dataset inconsistency has a large negative impact on the prediction errors of KB models and should be avoided as much as possible.

Voxel-based automatic multi-criteria optimization for intensity modulated radiation therapy

Background

Automatic multi-criteria optimization is necessary for intensity modulated radiation therapy (IMRT) because of low planning efficiency and large plan quality uncertainty in current clinical practice. Most studies focused on imitating dosimetrists’ planning procedures to automate this process and ignored the fact that organ-based objective functions typically used in commercial treatment planning systems (such as dose-volume function) usually lead to sub-optimal plans. To guarantee the optimum results and to automate this process, we incorporate an improved automation strategy and a voxel-based optimization algorithm to generate a novel automatic multi-criteria optimization framework. We then evaluate it in clinical cases.

Methods

This novel automatic multi-criteria optimization framework incorporates a ranked priority-list based automatic constraints adjustment strategy and an in-house developed voxel-based optimization algorithm. Constraints are sequentially adjusted following a pre-defined priority list. Afterward, a voxel-based fluence map optimization (FMO) with an orientation to the newly updated constraints is launched to find a Pareto optimal solution. Loops of constraints adjustment are repeated until each of them could not be relaxed or tightened. The feasibility of the framework is evaluated with 10 automatic generated gynecology (GYN) cancer IMRT cases by comparing the dosimetric performance with the original.

Results

Plan quality improvement is observed for our automatic multi-criteria optimization method. Comparable DVHs are found for the planning target volume (PTV), but with better organs-at-risk (OAR) dose sparing. Among 13 evaluated dosimetric endpoints, 5 of them show significant improvements in automatically generated plans compared with the original plans. Investigation of improvement tendency during optimization exhibits gradual change as the optimization stage proceeds. An initial voxel-based optimization stage and in-low-priority dosimetric criteria tighten can significantly contribute to the optimization procedure.

Conclusions

We have successfully developed an automatic multi-criteria optimization framework that can dramatically reduce the current trial-and-error patterned planning workload while affording an efficient method to assure high plan quality consistency. This optimization framework is expected to greatly facilitate precise radiation therapy because of its advantages of planning efficiency and plan quality improvement.

Planning comparison of five automated treatment planning solutions for locally advanced head and neck cancer

Background

Automated treatment planning and/or optimization systems (ATPS) are in the process of broad clinical implementation aiming at reducing inter-planner variability, reducing the planning time allocated for the optimization process and improving plan quality. Five different ATPS used clinically were evaluated for advanced head and neck cancer (HNC).

Methods

Three radiation oncology departments compared 5 different ATPS: 1) Automatic Interactive Optimizer (AIO) in combination with RapidArc (in-house developed and Varian Medical Systems); 2) Auto-Planning (AP) (Philips Radiation Oncology Systems); 3) RapidPlan version 13.6 (RP1) with HNC model from University Hospital A (Varian Medical Systems, Palo Alto, USA); 4) RapidPlan version 13.7 (RP2) combined with scripting for automated setup of fields with HNC model from University Hospital B; 5) Raystation multicriteria optimization algorithm version 5 (RS) (Laboratories AB, Stockholm, Sweden). Eight randomly selected HNC cases from institution A and 8 from institution B were used. PTV coverage, mean and maximum dose to the organs at risk and effective planning time were compared. Ranking was done based on 3 Gy increments for the parallel organs.

Results

All planning systems achieved the hard dose constraints for the PTVs and serial organs for all patients. Overall, AP achieved the best ranking for the parallel organs followed by RS, AIO, RP2 and RP1. The oral cavity mean dose was the lowest for RS (31.3 ± 17.6 Gy), followed by AP (33.8 ± 17.8 Gy), RP1 (34.1 ± 16.7 Gy), AIO (36.1 ± 16.8 Gy) and RP2 (36.3 ± 16.2 Gy). The submandibular glands mean dose was 33.6 ± 10.8 Gy (AP), 35.2 ± 8.4 Gy (AIO), 35.5 ± 9.3 Gy (RP2), 36.9 ± 7.6 Gy (RS) and 38.2 ± 7.0 Gy (RP1). The average effective planning working time was substantially different between the five ATPS (in minutes): < 2 ± 1 for AIO and RP2, 5 ± 1 for AP, 15 ± 2 for RP1 and 340 ± 48 for RS, respectively.

Conclusions

All ATPS were able to achieve all planning DVH constraints and the effective working time was kept bellow 20 min for each ATPS except for RS. For the parallel organs, AP performed the best, although the differences were small.

Automation in intensity modulated radiotherapy treatment planning-a review of recent innovations

Radiotherapy treatment planning of complex radiotherapy techniques, such as intensity modulated radiotherapy and volumetric modulated arc therapy, is a resource-intensive process requiring a high level of treatment planner intervention to ensure high plan quality. This can lead to variability in the quality of treatment plans and the efficiency in which plans are produced, depending on the skills and experience of the operator and available planning time. Within the last few years, there has been significant progress in the research and development of intensity modulated radiotherapy treatment planning approaches with automation support, with most commercial manufacturers now offering some form of solution. There is a rapidly growing number of research articles published in the scientific literature on the topic. This paper critically reviews the body of publications up to April 2018. The review describes the different types of automation algorithms, including the advantages and current limitations. Also included is a discussion on the potential issues with routine clinical implementation of such software, and highlights areas for future research.

An automated planning strategy for near real-time adaptive proton therapy in prostate cancer

Proton therapy plans are very sensitive to anatomical changes such as density changes along the pencil-beam paths and changes in organ shape and location. Previously, we developed a restoration method which compensates for density changes along the pencil-beam paths but which is unable to adapt for anatomical changes. This study's purpose is to develop and evaluate an automated method for adaptation of IMPT plans in near real-time to the anatomy of the day. We developed an automated treatment plan adaptation method using (1) a restoration of spot positions (Bragg peaks) by adapting the energies to the new water equivalent path lengths; and (2) a spot addition to fully cover the target of the day, followed by a fast reference point method optimization of the spot weights resulting in a Pareto optimal plan for the daily anatomy. The method was developed and evaluated using 8-10 repeat CT scans of 11 prostate cancer patients, prescribing 55 Gy(RBE) (seminal vesicles and lymph nodes) with a boost to 74 Gy(RBE) (prostate). Applying the automated adaptation method resulted in a clinically acceptable target coverage (V _95% [Formula: see text] 98% and V _107% [Formula: see text] 2%) for 96% of the scans after a single iteration of adding 2500 spots. The other scans obtained target coverages with V _95% [Formula: see text] 98% and 2  <  V _107% [Formula: see text] 5%. When using two spot-addition iterations, all scans obtained clinically acceptable results. Compared to the restoration method the adaptation lowered the mean dose to rectum and bladder with median values of 6.2 Gy(RBE) and 4.7 Gy(RBE) respectively. The largest improvements were obtained for V _45Gy(RBE) for both rectum and bladder, with median differences of 10.3%-point and 10.8%-point respectively, and maximum differences up to 22%-point. The two adaptation steps took on average 7.3 s and 1.7 min respectively. No user interaction was needed, making this fast and fully automated method a first step towards online adaptive proton therapy.

Multicriteria plan optimization in the hands of physicians: a pilot study in prostate cancer and brain tumors

BACKGROUND

The purpose of this study was to demonstrate the feasibility of physician driven planning in intensity modulated radiotherapy (IMRT) with a multicriteria optimization (MCO) treatment planning system and template based plan optimization. Exploiting the full planning potential of MCO navigation, this alternative planning approach intends to improve planning efficiency and individual plan quality.

METHODS

Planning was retrospectively performed on 12 brain tumor and 10 post-prostatectomy prostate patients previously treated with MCO-IMRT. For each patient, physicians were provided with a template-based generated Pareto surface of optimal plans to navigate, using the beam angles from the original clinical plans. We compared physician generated plans to clinically delivered plans (created by dosimetrists) in terms of dosimetric differences, physician preferences and planning times.

RESULTS

Plan qualities were similar, however physician generated and clinical plans differed in the prioritization of clinical goals. Physician derived prostate plans showed significantly better sparing of the high dose rectum and bladder regions (p(D1) < 0.05; D1: dose received by 1% of the corresponding structure). Physicians' brain tumor plans indicated higher doses for targets and brainstem (p(D1) < 0.05). Within blinded plan comparisons physicians preferred the clinical plans more often (brain: 6:3 out of 12, prostate: 2:6 out of 10) (not statistically significant). While times of physician involvement were comparable for prostate planning, the new workflow reduced the average involved time for brain cases by 30%. Planner times were reduced for all cases. Subjective benefits, such as a better understanding of planning situations, were observed by clinicians through the insight into plan optimization and experiencing dosimetric trade-offs.

CONCLUSIONS

We introduce physician driven planning with MCO for brain and prostate tumors as a feasible planning workflow. The proposed approach standardizes the planning process by utilizing site specific templates and integrates physicians more tightly into treatment planning. Physicians' navigated plan qualities were comparable to the clinical plans. Given the reduction of planning time of the planner and the equal or lower planning time of physicians, this approach has the potential to improve departmental efficiencies.

Impact of model and dose uncertainty on model-based selection of oropharyngeal cancer patients for proton therapy

BACKGROUND

Proton therapy is becoming increasingly available, so it is important to apply objective and individualized patient selection to identify those who are expected to benefit most from proton therapy compared to conventional intensity modulated radiation therapy (IMRT). Comparative treatment planning using normal tissue complication probability (NTCP) evaluation has recently been proposed. This work investigates the impact of NTCP model and dose uncertainties on model-based patient selection.

MATERIAL AND METHODS

We used IMRT and intensity modulated proton therapy (IMPT) treatment plans of 78 oropharyngeal cancer patients, which were generated based on automated treatment planning and evaluated based on three published NTCP models. A reduction in NTCP of more than a certain threshold (e.g. 10% lower NTCP) leads to patient selection for IMPT, referred to as 'nominal' selection. To simulate the effect of uncertainties in NTCP-model coefficients (based on reported confidence intervals) and planned doses on the accuracy of model-based patient selection, the Monte Carlo method was used to sample NTCP-model coefficients and doses from a probability distribution centered at their nominal values. Patient selection accuracy within a certain sample was defined as the fraction of patients which had similar selection in both the 'nominal' and 'sampled' scenario.

RESULTS

For all three NTCP models, the median patient selection accuracy was found to be above 70% when only NTCP-model uncertainty was considered. Selection accuracy decreased with increasing uncertainty resulting from differences between planned and delivered dose. In case of excessive dose uncertainty, selection accuracy decreased to 60%.

CONCLUSION

Model and dose uncertainty highly influence the accuracy of model-based patient selection for proton therapy. A reduction of NTCP-model uncertainty is necessary to reach more accurate model-based patient selection.

The impact of treatment accuracy on proton therapy patient selection for oropharyngeal cancer patients

BACKGROUND AND PURPOSE

The impact of treatment accuracy on NTCP-based patient selection for proton therapy is currently unknown. This study investigates this impact for oropharyngeal cancer patients.

MATERIALS AND METHODS

Data of 78 patients was used to automatically generate treatment plans for a simultaneously integrated boost prescribing 70 Gy_RBE/54.25 Gy_RBE in 35 fractions. IMRT treatment plans were generated with three different margins; intensity modulated proton therapy (IMPT) plans for five different setup and range robustness settings. Four NTCP models were evaluated. Patients were selected for proton therapy if NTCP reduction was ≥10% or ≥5% for grade II or III complications, respectively.

RESULTS

The degree of robustness had little impact on patient selection for tube feeding dependence, while the margin had. For other complications the impact of the robustness setting was noticeably higher. For high-precision IMRT (3 mm margin) and high-precision IMPT (3 mm setup/3% range error), most patients were selected for proton therapy based on problems swallowing solid food (51.3%) followed by tube feeding dependence (37.2%), decreased parotid flow (29.5%), and patient-rated xerostomia (7.7%).

CONCLUSIONS

Treatment accuracy has a significant impact on the number of patients selected for proton therapy. Therefore, it cannot be ignored in estimating the number of patients for proton therapy.

Prospective clinical validation of independent DVH prediction for plan QA in automatic treatment planning for prostate cancer patients

PURPOSE

To prospectively investigate the use of an independent DVH prediction tool to detect outliers in the quality of fully automatically generated treatment plans for prostate cancer patients.

MATERIALS/METHODS

A plan QA tool was developed to predict rectum, anus and bladder DVHs, based on overlap volume histograms and principal component analysis (PCA). The tool was trained with 22 automatically generated, clinical plans, and independently validated with 21 plans. Its use was prospectively investigated for 50 new plans by replanning in case of detected outliers.

RESULTS

For rectum D_mean, V_65Gy, V_75Gy, anus D_mean, and bladder D_mean, the difference between predicted and achieved was within 0.4 Gy or 0.3% (SD within 1.8 Gy or 1.3%). Thirteen detected outliers were re-planned, leading to moderate but statistically significant improvements (mean, max): rectum D_mean (1.3 Gy, 3.4 Gy), V_65Gy (2.7%, 4.2%), anus D_mean (1.6 Gy, 6.9 Gy), and bladder D_mean (1.5 Gy, 5.1 Gy). The rectum V_75Gy of the new plans slightly increased (0.2%, p = 0.087).

CONCLUSION

A high accuracy DVH prediction tool was developed and used for independent QA of automatically generated plans. In 28% of plans, minor dosimetric deviations were observed that could be improved by plan adjustments. Larger gains are expected for manually generated plans.