Assessment of MLC tracking performance during hypofractionated prostate radiotherapy using real-time dose reconstruction

Reducing the margin in prostate radiotherapy: optimizing radiotherapy with a general-purpose linear accelerator using an in-house position monitoring system

Purpose

To study the feasibility of optimizing the Clinical Target Volume to Planning Target Volume (CTV-PTV) margin in prostate radiotherapy(RT) with a general-purpose linear accelerator using an in-house developed position monitoring system, SeedTracker.

Methods

A cohort of 30 patients having definitive prostate radiotherapy treated within an ethics-approved prospective trial was considered for this study. The intrafraction prostate motion and the position deviations were measured using SeedTracker system during each treatment fraction. Using this data the CTV-PTV margin required to cover 90% of the patients with a minimum of 95% of the prescription dose to CTV was calculated using van Herk's formula. The margin calculations were performed for treatment scenarios both with and without applying the position corrections for observed position deviations. The feasibility of margin reduction with real-time monitoring was studied by assessing the delivered dose that incorporates the actual target position during treatment delivery and comparing it with the planned dose. This assessment was performed for plans generated with reduced CTV-PTV margin in the range of 7mm-3mm.

Results

With real-time monitoring and position corrections applied the margin of 2.0mm, 2.1mm and 2.1mm in LR, AP and SI directions were required to meet the criteria of 90% population to receive 95% of the dose prescription to CTV. Without position corrections applied for observed position deviations a margin of 3.1mm, 4.0mm and 3.0mm was required in LR, AP and SI directions to meet the same criteria. A mean ± SD reduction of 0.5 ± 1.8% and 3 ± 7% of V60 for the rectum and bladder can be achieved for every 1mm reduction of PTV margin. With position corrections applied, the CTV D99 can be delivered within -0.2 ± 0.3 Gy of the planned dose for plans with a 3mm margin. Without applying corrections for position deviations the CTV D99 was reduced by a maximum of 1.1 ± 1.1 Gy for the 3mm margin plan and there was a statistically significant difference between planned and delivered dose for 3mm and 4mm margin plans.

Conclusion

This study demonstrates the feasibility of reducing the margin in prostate radiotherapy with SeedTracker system without compromising the dose delivery accuracy to CTV while reducing dose to critical structures.

Characteristics of a real-time radiation exposure dosimetry system using a synthetic ruby for radiotherapy

Radiotherapy-related medical accidents are frequently caused by planning problems, excessive irradiation during radiotherapy, or patient movement. This is partly because the local exposure dose cannot be directly monitored during radiotherapy. This article discusses the development of our recent real-time radiation exposure dosimetry system that uses a synthetic ruby for radiation therapy. Background noise was observed before the measurement of the short-term characteristic features. Regarding the relationship between the number of photons and dose rate, using 100 monitor units (MU)/min as the measurement value, the counts decreased by approximately 10% at 600 MU/min. A clear correlation was observed between the MU value and the number of photons (R² = 0.9987). The coefficient of variation (%CV) was less than ± 1.0% under all the irradiation conditions. Slight differences were observed between the ion chamber and the synthetic ruby dosimeters in the measurement of the percentage depth dose. However, this difference was almost matched by correcting for the Cherenkov light. Although some problems were observed with the synthetic ruby dosimeter system, our results indicate that the developed dosimeter can be used to measure the irradiation dose of patients in real time, with no significant impact on the data, as any effect would be masked by the larger effect of the ruby; however, the impact requires a detailed assessment in the future.

A phase space model of a Versa HD linear accelerator for application to Monte Carlo dose calculation in a real-time adaptive workflow

PURPOSE

This study aims to develop and validate a simple geometric model of the accelerator head, from which a particle phase space can be calculated for application to fast Monte Carlo dose calculation in real-time adaptive photon radiotherapy. With this objective in view, the study investigates whether the phase space model can facilitate dose calculations which are compatible with those of a commercial treatment planning system, for convenient interoperability.

MATERIALS AND METHODS

A dual-source model of the head of a Versa HD accelerator (Elekta AB, Stockholm, Sweden) was created. The model used parameters chosen to be compatible with those of 6-MV flattened and 6-MV flattening filter-free photon beams in the RayStation treatment planning system (RaySearch Laboratories, Stockholm, Sweden). The phase space model was used to calculate a photon phase space for several treatment plans, and the resulting phase space was applied to the Dose Planning Method (DPM) Monte Carlo dose calculation algorithm. Simple fields and intensity-modulated radiation therapy (IMRT) treatment plans for prostate and lung were calculated for benchmarking purposes and compared with the convolution-superposition dose calculation within RayStation.

RESULTS

For simple square fields in a water phantom, the calculated dose distribution agrees to within ±2% with that from the commercial treatment planning system, except in the buildup region, where the DPM code does not model the electron contamination. For IMRT plans of prostate and lung, agreements of ±2% and ±6%, respectively, are found, with slightly larger differences in the high dose gradients.

CONCLUSIONS

The phase space model presented allows convenient calculation of a phase space for application to Monte Carlo dose calculation, with straightforward translation of beam parameters from the RayStation beam model. This provides a basis on which to develop dose calculation in a real-time adaptive setting.

Effect of intrafraction adaptation on PTV margins for MRI guided online adaptive radiotherapy for rectal cancer

Purpose

To determine PTV margins for intrafraction motion in MRI-guided online adaptive radiotherapy for rectal cancer and the potential benefit of performing a 2nd adaptation prior to irradiation.

Methods

Thirty patients with rectal cancer received radiotherapy on a 1.5 T MR-Linac. On T2-weighted images for adaptation (MRI_adapt), verification prior to (MRI_ver) and after irradiation (MRI_post) of 5 treatment fractions per patient, the primary tumor GTV (GTV_prim) and mesorectum CTV (CTV_meso) were delineated. The structures on MRI_adapt were expanded to corresponding PTVs. We determined the required expansion margins such that on average over 5 fractions, 98% of CTV_meso and 95% of GTV_prim on MRI_post was covered in 90% of the patients. Furthermore, we studied the benefit of an additional adaptation, just prior to irradiation, by evaluating the coverage between the structures on MRI_ver and MRI_post. A threshold to assess the need for a secondary adaptation was determined by considering the overlap between MRI_adapt and MRI_ver.

Results

PTV margins for intrafraction motion without 2nd adaptation were 6.4 mm in the anterior direction and 4.0 mm in all other directions for CTV_meso and 5.0 mm isotropically for GTV_prim. A 2nd adaptation, applied for all fractions where the motion between MRI_adapt and MRI_ver exceeded 1 mm (36% of the fractions) would result in a reduction of the PTV_meso margin to 3.2 mm/2.0 mm. For PTV_prim a margin reduction to 3.5 mm is feasible when a 2nd adaptation is performed in fractions where the motion exceeded 4 mm (17% of the fractions).

Conclusion

We studied the potential benefit of intrafraction motion monitoring and a 2nd adaptation to reduce PTV margins in online adaptive MRIgRT in rectal cancer. Performing 2nd adaptations immediately after online replanning when motion exceeded 1 mm and 4 mm for CTV_meso and GTV_prim respectively, could result in a 30–50% margin reduction with limited reduction of dose to the bowel.

First-in-human imaging using a MR-compatible e4D ultrasound probe for motion management of radiotherapy

PURPOSE

Respiration-induced tumor or organ positional changes can impact the accuracy of external beam radiotherapy. Motion management strategies are used to account for these changes during treatment. The authors report on the development, testing, and first-in-human evaluation of an electronic 4D (e4D) MR-compatible ultrasound probe that was designed for hands-free operation in a MR and linear accelerator (LINAC) environment.

METHODS

Ultrasound components were evaluated for MR compatibility. Electromagnetic interference (EMI) shielding was used to enclose the entire probe and a factory-fabricated cable shielded with copper braids was integrated into the probe. A series of simultaneous ultrasound and MR scans were acquired and analyzed in five healthy volunteers.

RESULTS

The ultrasound probe led to minor susceptibility artifacts in the MR images immediately proximal to the ultrasound probe at a depth of <10 mm. Ultrasound and MR-based motion traces that were derived by tracking the salient motion of endogenous target structures in the superior-inferior (SI) direction demonstrated good concordance (Pearson correlation coefficients of 0.95-0.98) between the ultrasound and MRI datasets.

CONCLUSION

We have demonstrated that our hands-free, e4D probe can acquire ultrasound images during a MR acquisition at frame rates of approximately 4 frames per second (fps) without impacting either the MR or ultrasound image quality. This use of this technology for interventional procedures (e.g. biopsies and drug delivery) and motion compensation during imaging are also being explored.

First experimental evaluation of multi-target multileaf collimator tracking during volumetric modulated arc therapy for locally advanced prostate cancer

PURPOSE

Locally advanced and oligometastatic cancer patients require radiotherapy treatment to multiple independently moving targets. There is no existing commercial solution that can simultaneously track and treat multiple targets. This study experimentally implemented and evaluated a real-time multi-target tracking system for locally advanced prostate cancer.

METHODS

Real-time multi-target MLC tracking was integrated with 3D x-ray image guidance on a standard linac. Three locally advanced prostate cancer treatment plans were delivered to a static lymph node phantom and dynamic prostate phantom that reproduced three prostate trajectories. Treatments were delivered using multi-target MLC tracking, single-target MLC tracking, and no tracking. Doses were measured using Gafchromic film placed in the dynamic and static phantoms. Dosimetric error was quantified by the 2%/2 mm gamma failure rate. Geometric error was evaluated as the misalignment between target and aperture positions. The multi-target tracking system latency was measured.

RESULTS

The mean (range) gamma failure rates for the prostate and lymph nodes, were 18.6% (5.2%, 28.5%) and 7.5% (1.1%, 13.7%) with multi-target tracking, 7.9% (0.7%, 15.4%) and 37.8% (18.0%, 57.9%) with single-target tracking, and 38.1% (0.6%, 75.3%) and 37.2% (29%, 45.3%) without tracking. Multi-target tracking had the lowest geometric error with means and standard deviations within 0.2 ± 1.5 for the prostate and 0.0 ± 0.3 mm for the lymph nodes. The latency was 730 ± 20 ms.

CONCLUSION

This study presented the first experimental implementation of multi-target tracking to independently track prostate and lymph node displacement during VMAT. Multi-target tracking reduced dosimetric and geometric errors compared to single-target tracking and no tracking.

AAPM Task Group 264: The safe clinical implementation of MLC tracking in radiotherapy

The era of real-time radiotherapy is upon us. Robotic and gimbaled linac tracking are clinically established technologies with the clinical realization of couch tracking in development. Multileaf collimators (MLCs) are a standard equipment for most cancer radiotherapy systems, and therefore MLC tracking is a potentially widely available technology. MLC tracking has been the subject of theoretical and experimental research for decades and was first implemented for patient treatments in 2013. The AAPM Task Group 264 Safe Clinical Implementation of MLC Tracking in Radiotherapy Report was charged to proactively provide the broader radiation oncology community with (a) clinical implementation guidelines including hardware, software, and clinical indications for use, (b) commissioning and quality assurance recommendations based on early user experience, as well as guidelines on Failure Mode and Effects Analysis, and (c) a discussion of potential future developments. The deliverables from this report include: an explanation of MLC tracking and its historical development; terms and definitions relevant to MLC tracking; the clinical benefit of, clinical experience with and clinical implementation guidelines for MLC tracking; quality assurance guidelines, including example quality assurance worksheets; a clinical decision pathway, future outlook and overall recommendations.

Dose-based optimisation for multi-leaf collimator tracking during radiation therapy

Motion in the patient anatomy causes a reduction in dose delivered to the target, while increasing dose to healthy tissue. Multi-leaf collimator (MLC) tracking has been clinically implemented to adapt dose delivery to account for intrafraction motion. Current methods shift the planned MLC aperture in the direction of motion, then optimise the new aperture based on the difference in fluence. The drawback of these methods is that 3D dose, a function of patient anatomy and MLC aperture sequence, is not properly accounted for. To overcome the drawback of current fluence-based methods, we have developed and investigated real-time adaptive MLC tracking based on dose optimisation. A novel MLC tracking algorithm, dose optimisation, has been developed which accounts for the moving patient anatomy by optimising the MLC based on the dose delivered during treatment, simulated using a simplified dose calculation algorithm. The MLC tracking with dose optimisation method was applied in silico to a prostate cancer VMAT treatment dataset with observed intrafraction motion. Its performance was compared to MLC tracking with fluence optimisation and, as a baseline, without MLC tracking. To quantitatively assess performance, we computed the dose error and 3D γ failure rate (2 mm/2%) for each fraction and method. Dose optimisation achieved a γ failure rate of (4.7 ± 1.2)% (mean and standard deviation) over all fractions, which was significantly lower than fluence optimisation (7.5 ± 2.9)% (Wilcoxon sign-rank test p < 0.01). Without MLC tracking, a γ failure rate of (15.3 ± 12.9)% was achieved. By considering the accumulation of dose in the moving anatomy during treatment, dose optimisation is able to optimise the aperture to actively target regions of underdose while avoiding overdose.

Technical Challenges of Real-Time Adaptive MR-Guided Radiotherapy

In the past few years, radiotherapy (RT) has experienced a major technological innovation with the development of hybrid machines combining magnetic resonance (MR) imaging and linear accelerators. This new technology for MR-guided cancer treatment has the potential to revolutionize the field of adaptive RT due to the opportunity to provide high-resolution, real-time MR imaging before and during treatment application. However, from a technical point of view, several challenges remain which need to be tackled to ensure safe and robust real-time adaptive MR-guided RT delivery. In this manuscript, several technical challenges to MR-guided RT are discussed. Starting with magnetic field strength tradeoffs, the potential and limitations for purely MR-based RT workflows are discussed. Furthermore, the current status of real-time 3D MR imaging and its potential for real-time RT are summarized. Finally, the potential of quantitative MR imaging for future biological RT adaptation is highlighted.

Six degrees of freedom dynamic motion-including dose reconstruction in a commercial treatment planning system

PURPOSE

Intrafractional motion during radiotherapy delivery can deteriorate the delivered dose. Dynamic rotational motion of up to 38 degrees has been reported during prostate cancer radiotherapy, but methods to determine the dosimetric consequences of such rotations are lacking. Here, we create and experimentally validate a dose reconstruction method that accounts for dynamic rotations and translations in a commercial treatment planning system (TPS). Interplay effects are quantified by comparing dose reconstructions with dynamic and constant rotations.

METHODS

The dose reconstruction accumulates the dose in points of interest while the points are moved in six degrees of freedom (6DoF) in a precalculated time-resolved four-dimensional (4D) dose matrix to emulate dynamic motion in a patient. The required 4D dose matrix was generated by splitting the original treatment plan into multiple sub-beams, each representing 0.4 s dose delivery, and recalculating the dose of the split plan in the TPS (Eclipse). The dose accumulation was performed via TPS scripting by querying the dose of each sub-beam in dynamically moving points, allowing dose reconstruction with any dynamic motion. The dose reconstruction was validated with film dosimetry for two prostate dual arc VMAT plans with intra-prostatic lesion boosts. The plans were delivered to a pelvis phantom with internal dynamic rotational motion of a film stack (21 films with 2.5 mm separation). Each plan was delivered without motion and with three prostate motion traces. Motion-including dose reconstruction was performed for each motion experiment using the actual dynamic rotation as well as a constant rotation equal to the mean rotation during the experiment. For each experiment, the 3%/2 mm γ failure rate of the TPS dose reconstruction was calculated with the film measurement being the reference. For each motion experiment, the motion-induced 3%/2 mm γ failure rate was calculated using the static delivery as the reference and compared between film measurements and TPS dose reconstruction. DVH metrics for RT structures fully contained in the film volume were also compared between film and TPS.

RESULTS

The mean γ failure rate of the TPS dose reconstructions when compared to film doses was 0.8% (two static experiments) and 1.7% (six dynamic experiments). The mean (range) of the motion-induced γ failure rate in film measurements was 35.4% (21.3-59.2%). The TPS dose reconstruction agreed with these experimental γ failure rates with root-mean-square errors of 2.1% (dynamic rotation dose reconstruction) and 17.1% (dose reconstruction assuming constant rotation). By DVH metrics, the mean (range) difference between dose reconstructions with dynamic and constant rotation was 4.3% (-0.3-10.6%) (urethra D 2 % ), -0.6% (-5.6%-2.5%) (urethra D 99 % ), 1.1% (-7.1-7.7%) (GTV D 2 % ), -1.4% (-17.4-7.1%) (GTV D 95 % ), -1.2% (-17.1-5.7%) (GTV D 99 % ), and -0.1% (-3.2-7.6%) (GTV mean dose). Dose reconstructions with dynamic motion revealed large interplay effects (cold and hot spots).

CONCLUSIONS

A method to perform dose reconstructions for dynamic 6DoF motion in a TPS was developed and experimentally validated. It revealed large differences in dose distribution between dynamic and constant rotations not identifiable through dose reconstructions with constant rotation.

Constrained optimization towards marker-based tumor tracking in VMAT

This study proposes that incorporating marker-based visibility constraints into the optimization of volumetric modulated arc therapy (VMAT) will generate treatment plans which not only ensure a higher chance of successfully applying real-time tumor tracking techniques, but also simultaneously satisfy dosimetric objectives. This was applied clinically and investigated for multiple disease sites (10 prostate, 5 liver, and 5 lung) using a radiotherapy optimization software (MonArc), where these new constraints were added to conventional dosimetric constraints. For all the investigated sites, three fiducial markers were located inside or around the planning target volume (PTV), and VMAT plans were created for each patient. We modified MonArc to analyze the multi-leaf collimator (MLC) beam’s-eye-view at all control points in the gantry arc, while including marker-based visibility constraints of type ‘hard’ (i.e. requiring 100% visibility of all markers, HC) and ‘soft’ (i.e. penalizes visibility for one marker [SCI] or two markers [SCII] only) in the optimization process. Dose distributions resulting from the constrained plans (HC, SCI, and SCII) were compared to the non-constrained plan (NC—plans optimized without visibility constraints) using several quantitative dose metrics including the conformity index, homogeneity index, doses to PTV and to organs-at-risk (OAR). Generally, the NC plan produced the best PTV dose conformity and the least OAR doses for the entire patient datasets, followed by the SC and then HC plans, with all the optimization approaches typically achieving acceptable dose metrics. Across the three disease sites, visibility of all three markers in MLC apertures increased from 32% to 100% of available control points as visibility constraints strengthened. Although dose metrics showed some deterioration for constrained plans (−6% for SCI up to −15% for HC using the PTV average index), the required dosimetric objectives were still satisfied in at least 90% of patients. In conclusion, we demonstrated that marker and tumour visibility constraints can be incorporated with dosimetric objectives to produce treatment plans satisfying both objectives, which should ensure greater success when applying real-time tracking for VMAT delivery.

Correlation of displacement vector fields calculated by different deformable image registration algorithms with motion parameters in helical, axial and cone beam CT imaging

Aim:

The purpose of this study is to investigate quantitatively the correlation of displacement vector fields (DVFs) from different deformable image registration (DIR) algorithms to register images from helical computed tomography (HCT), axial computed tomography (ACT) and cone beam computed tomography (CBCT) with motion parameters.

Materials and methods:

CT images obtained from scanning of the mobile phantom were registered with the stationary CT images using four DIR algorithms from the DIRART software: Demons, Fast-Demons, Horn–Schunck and Lucas–Kanade. HCT, ACT and CBCT imaging techniques were used to image a mobile phantom, which included three targets with different sizes (small, medium and large) that were manufactured from a water-equivalent material and embedded in low-density foam to simulate lung lesions. The phantom was moved with controlled cyclic motion patterns where a range of motion amplitudes (0–20 mm) and frequencies (0·125–0·5 Hz) were used.

Results:

The DVF obtained from different algorithms correlated well with motion amplitudes applied on the mobile phantom for CBCT and HCT, where the maximal DVF increased linearly with the motion amplitudes of the mobile phantom. In ACT, the DVF correlated less with motion amplitudes where motion-induced strong image artefacts and the DIR algorithms were not able to deform the ACT image of the mobile targets to the stationary targets. Three DIR algorithms produce comparable values and patterns of the DVF for certain CT imaging modality. However, DVF from Fast-Demons deviated strongly from other algorithms at large motion amplitudes.

Conclusions:

The local DVFs provide direct quantitative values for the actual internal tumour shifts that can be used to determine margins for the internal target volume that consider tumour motion during treatment planning. Furthermore, the DVF distributions can be used to extract motion parameters such as motion amplitude that can be extracted from the maximal or minimal DVF calculated by the different DIR algorithms and used in the management of the patient motion.

Estimating dose delivery accuracy in stereotactic body radiation therapy: A review of in-vivo measurement methods

Stereotactic body radiation therapy (SBRT) has been recognized as a standard treatment option for many anatomical sites. Sophisticated radiation therapy techniques have been developed for carrying out these treatments and new quality assurance (QA) programs are therefore required to guarantee high geometrical and dosimetric accuracy. This paper focuses on recent advances on in-vivo measurements methods (IVM) for SBRT treatment. More specifically, all of the online QA methods for estimating the effective dose delivered to patients were compared. Determining the optimal IVM for performing SBRT treatments would reduce the risk of errors that could jeopardize treatment outcome. A total of 89 papers were included. The papers were subdivided into the following topics: point dosimeters (PD), transmission detectors (TD), log file analysis (LFA), electronic portal imaging device dosimetry (EPID), dose accumulation methods (DAM). The detectability capability of the main IVM detectors/devices were evaluated. All of the systems have some limitations: PD has no spatial data, EPID has limited sensitivity towards set-up errors and intra-fraction motion in some anatomical sites, TD is insensitive towards patient related errors, LFA is not an independent measure, DAMs are not always based on measures. In order to minimize errors in SBRT dose delivery, we recommend using synergic combinations of two or more of the systems described in our review: on-line tumor position and patient information should be combined with MLC position and linac output detection accuracy. In this way the effects of SBRT dose delivery errors will be reduced.

Stereotactic body radiation therapy with optional focal lesion ablative microboost in prostate cancer: Topical review and multicenter consensus

Stereotactic body radiotherapy (SBRT) for prostate cancer (PCa) is gaining interest by the recent publication of the first phase III trials on prostate SBRT and the promising results of many other phase II trials. Before long term results became available, the major concern for implementing SBRT in PCa in daily clinical practice was the potential risk of late genitourinary (GU) and gastrointestinal (GI) toxicity. A number of recently published trials, including late outcome and toxicity data, contributed to the growing evidence for implementation of SBRT for PCa in daily clinical practice. However, there exists substantial variability in delivering SBRT for PCa. The aim of this topical review is to present a number of prospective trials and retrospective analyses of SBRT in the treatment of PCa. We focus on the treatment strategies and techniques used in these trials. In addition, recent literature on a simultaneous integrated boost to the tumor lesion, which could create an additional value in the SBRT treatment of PCa, was described. Furthermore, we discuss the multicenter consensus of the FLAME consortium on SBRT for PCa with a focal boost to the macroscopic intraprostatic tumor nodule(s).

First clinical real-time motion-including tumor dose reconstruction during radiotherapy delivery

PURPOSE

To clinically implement and characterize real-time motion-including tumor dose reconstruction during radiotherapy delivery.

METHODS

Seven patients with 2-3 fiducial markers implanted near liver tumors received stereotactic body radiotherapy on a conventional linear accelerator. The 3D marker motion during a setup CBCT scan was determined online from the CBCT projections and used to generate a correlation model between tumor and external marker block motion. During treatment, the correlation model was updated by kV imaging every three seconds and used for real-time tumor localization. Using streamed accelerator parameters and tumor positions, in-house developed software, DoseTracker, calculated the dose to the moving tumor in real-time assuming water density in the patient. Post-treatment, the real-time tumor localization was validated by comparison with independent marker segmentations and 3D motion estimations. Dose reconstruction was validated by comparison with treatment planning system (TPS) calculations that modeled motion as isocenter shifts and used both actual CT densities and water densities.

RESULTS

The real-time estimated tumor position had a mean 3D root-mean-square error of 1.7 mm (range: 0.9-2.6 mm). The motion-induced reduction in the minimum dose to 95% of the clinical target volume (CTV D95) per fraction was up to 12.3%-points. It was estimated in real-time by DoseTracker during patient treatment with a root-mean-square difference relative to the TPS of 1.3%-points (TPS CT) and 1.0%-points (TPS water).

CONCLUSIONS

The world's first clinical real-time motion-including tumor dose reconstruction during radiotherapy was demonstrated. This marks an important milestone for real-time in-treatment quality assurance and paves the way for real-time dose-guided treatment adaptation.

On the interplay between robustness and dynamic planning for adaptive radiation therapy*

Interfractional geometric uncertainties can lead to deviations of the actual delivered dose from the prescribed dose distribution. To better handle these uncertainties during the course of treatment, the authors propose a framework for robust adaptive radiation therapy in which a variety of robust adaptive treatment strategies are introduced and evaluated. This variety is a result of optimization variables with various degrees of freedom within robust optimization models that vary in their grade of conservativeness. The different degrees of freedom in the optimization variables are expressed through either time-and-uncertainty-scenario-independence, time-dependence or time-and-uncertainty-scenario-dependence, while the robust models are either based on expected-value-, worst-case- or conditional value-at-risk-optimization. The goal of this study is to understand which mathematical properties of the proposed robust adaptive strategies are relevant such that the accumulated dose can be steered as close as possible to the prescribed dose as the treatment progresses. We apply a result from convex analysis to show that the robust non-adaptive approach under conditions of convexity and permutation-invariance is at least as good as the time-dependent robust adaptive approach, which implies that the time-dependent problem can be solved by dynamically solving the corresponding time-independent problem. According to the computational study, non-adaptive robust strategies may provide sufficient target coverage comparable to robust adaptive strategies if the occurring uncertainties follow the same distribution as those included in the robust model. Moreover, the results indicate that time-and-uncertainty-scenario-dependent optimization variables are most compatible with worst-case-optimization, while time-and-uncertainty-scenario-independent variables find their best match with expected value optimization. In conclusion, the authors introduced a novel framework for robust adaptive radiation therapy and identified mathematical requirements to further develop robust adaptive strategies in order to improve treatment outcome in the presence of interfractional uncertainties.

See, Think, and Act: Real-Time Adaptive Radiotherapy

The world is embracing the information age, with real-time data at hand to assist with many decisions. Similarly, in cancer radiotherapy we are inexorably moving toward using information in a smarter and faster fashion, to usher in the age of real-time adaptive radiotherapy. The three critical steps of real-time adaptive radiotherapy, aligned with driverless vehicle technology are a continuous see, think, and act loop. See: use imaging systems to probe the patient anatomy or physiology as it evolves with time. Think: use current and prior information to optimize the treatment using the available adaptive degrees of freedom. Act: deliver the real-time adapted treatment. This paper expands upon these three critical steps for real-time adaptive radiotherapy, provides a historical context, reviews the clinical rationale, and gives a future outlook for real-time adaptive radiotherapy.

Adaptive Radiotherapy Enabled by MRI Guidance

Adaptive radiotherapy (ART) strategies systematically monitor variations in target and neighbouring structures to inform treatment-plan modification during radiotherapy. This is necessary because a single plan designed before treatment is insufficient to capture the actual dose delivered to the target and adjacent critical structures during the course of radiotherapy. Magnetic resonance imaging (MRI) provides superior soft-tissue image contrast over current standard X-ray-based technologies without additional radiation exposure. With integrated MRI and radiotherapy platforms permitting motion monitoring during treatment delivery, it is possible that adaption can be informed by real-time anatomical imaging. This allows greater treatment accuracy in terms of dose delivered to target with smaller, individualised treatment margins. The use of functional MRI sequences would permit ART to be informed by imaging biomarkers, so allowing both personalised geometric and biological adaption. In this review, we discuss ART solutions enabled by MRI guidance and its potential gains for our patients across tumour types.

First online real-time evaluation of motion-induced 4D dose errors during radiotherapy delivery

PURPOSE

In radiotherapy, dose deficits caused by tumor motion often far outweigh the discrepancies typically allowed in plan-specific quality assurance (QA). Yet, tumor motion is not usually included in present QA. We here present a novel method for online treatment verification by real-time motion-including four-dimensional (4D) dose reconstruction and dose evaluation and demonstrate its use during stereotactic body radiotherapy (SBRT) delivery with and without MLC tracking.

METHODS

Five volumetric-modulated arc therapy (VMAT) plans were delivered with and without MLC tracking to a motion stage carrying a Delta4 dosimeter. The VMAT plans have previously been used for (nontracking) liver SBRT with intratreatment tumor motion recorded by kilovoltage intrafraction monitoring (KIM). The motion stage reproduced the KIM-measured tumor motions in three dimensions (3D) while optical monitoring guided the MLC tracking. Linac parameters and the target position were streamed to an in-house developed software program (DoseTracker) that performed real-time 4D dose reconstructions and 3%/3 mm γ-evaluations of the reconstructed cumulative dose using a concurrently reconstructed planned dose without target motion as reference. Offline, the real-time reconstructed doses and γ-evaluations were validated against 4D dosimeter measurements performed during the experiments.

RESULTS

In total, 181,120 dose reconstructions and 5,237 γ-evaluations were performed online and in real time with median computation times of 30 ms and 1.2 s, respectively. The mean (standard deviation) difference between reconstructed and measured doses was -1.2% (4.9%) for transient doses and -1.5% (3.9%) for cumulative doses. The root-mean-square deviation between reconstructed and measured motion-induced γ-fail rates was 2.0%-point. The mean (standard deviation) sensitivity and specificity of DoseTracker to predict γ-fail rates above a given threshold was 96.8% (3.5%) and 99.2% (0.4%), respectively, for clinically relevant thresholds between 1% and 30% γ-fail rate.

CONCLUSIONS

Real-time delivery-specific QA during radiotherapy of moving targets was demonstrated for the first time. It allows supervision of treatment accuracy and action on treatment discrepancy within 2 s with high sensitivity and specificity.

Real-time energy/mass transfer mapping for online 4D dose reconstruction

In this work we describe an ultra-fast, low-latency implementation of the energy/mass transfer (EMT) mapping method to accumulate dose on deforming geometries such as lung using the central processing unit (CPU). It enables the computation of the actually delivered dose for intensity-modulated radiation therapy on 4D image data in real-time at 25 Hz. In order to accumulate the delivered dose onto a reference phase a pre-calculated deformable vector field is used. The aim of this study is to present an online dose accumulation technique that can be carried out in less than 40 ms to accommodate the machine log update rate of our research linac. Three speed optimisation strategies for the CPU are discussed: single-core optimisation, parallelisation for multiple cores and vectorisation. The single-core implementation accumulates dose in about 1.1 s on a typical high resolution grid for a lung stereotactic body radiation therapy case. Adding parallelisation decreased the runtime to about 50 ms while adding vectorisation satisfied our real-time constraint by further reducing the dose accumulation time to 15 ms without compromising on resolution or accuracy. The presented method allows real-time dose accumulation on deforming patient geometries and has the potential to enable online dose evaluation and re-planning scenarios.

The accuracy and precision of Kilovoltage Intrafraction Monitoring (KIM) six degree-of-freedom prostate motion measurements during patient treatments

BACKGROUND AND PURPOSE

To perform a quantitative analysis of the accuracy and precision of Kilovoltage Intrafraction Monitoring (KIM) six degree-of-freedom (6DoF) prostate motion measurements during treatments.

MATERIAL AND METHODS

Real-time 6DoF prostate motion was acquired using KIM for 14 prostate cancer patients (377 fractions). KIM outputs the 6DoF prostate motion, combining 3D translation and 3D rotational motion information relative to its planning position. The corresponding groundtruth target motion was obtained post-treatment based on kV/MV triangulation. The accuracy and precision of the 6DoF KIM motion estimates were calculated as the mean and standard deviation differences compared with the ground-truth.

RESULTS

The accuracy ± precision of real-time 6DoF KIM-measured prostate motion were 0.2 ± 1.3° for rotations and 0.1 ± 0.5 mm for translations, respectively. The magnitude of KIM-measured motion was well-correlated with the magnitude of ground-truth motion resulting in Pearson correlation coefficients of  ≥0.88 in all DoF.

CONCLUSIONS

The results demonstrate that KIM is capable of providing the real-time 6DoF prostate target motion during patient treatments with an accuracy ± precision of within 0.2 ± 1.3° and 0.1 ± 0.5 mm for rotation and translation, respectively. As KIM only requires a single X-ray imager, which is available on most modern cancer radiotherapy devices, there is potential for widespread adoption of this technology.

Magnetic Resonance Imaging-Guided Adaptive Radiation Therapy: A "Game Changer" for Prostate Treatment?

Radiation therapy to the prostate involves increasingly sophisticated delivery techniques and changing fractionation schedules. With a low estimated α/β ratio, a larger dose per fraction would be beneficial, with moderate fractionation schedules rapidly becoming a standard of care. The integration of a magnetic resonance imaging (MRI) scanner and linear accelerator allows for accurate soft tissue tracking with the capacity to replan for the anatomy of the day. Extreme hypofractionation schedules become a possibility using the potentially automated steps of autosegmentation, MRI-only workflow, and real-time adaptive planning. The present report reviews the steps involved in hypofractionated adaptive MRI-guided prostate radiation therapy and addresses the challenges for implementation.

Online dose reconstruction for tracked volumetric arc therapy: Real-time implementation and offline quality assurance for prostate SBRT

PURPOSE

Firstly, this study provides a real-time implementation of online dose reconstruction for tracked volumetric arc therapy (VMAT). Secondly, this study describes a novel offline quality assurance tool, based on commercial dose calculation algorithms.

METHODS

Online dose reconstruction for VMAT is a computationally challenging task in terms of computer memory usage and calculation speed. To potentially reduce the amount of memory used, we analyzed the impact of beam angle sampling for dose calculation on the accuracy of the dose distribution. To establish the performance of the method, we planned two single-arc VMAT prostate stereotactic body radiation therapy cases for delivery with dynamic MLC tracking. For quality assurance of our online dose reconstruction method we have also developed a stand-alone offline dose reconstruction tool, which utilizes the RayStation treatment planning system to calculate dose.

RESULTS

For the online reconstructed dose distributions of the tracked deliveries, we could establish strong resemblance for 72 and 36 beam co-planar equidistant beam samples with less than 1.2% deviation for the assessed dose-volume indicators (clinical target volume D98 and D2, and rectum D2). We could achieve average runtimes of 28-31 ms per reported MLC aperture for both dose computation and accumulation, meeting our real-time requirement. To cross-validate the offline tool, we have compared the planned dose to the offline reconstructed dose for static deliveries and found excellent agreement (3%/3 mm global gamma passing rates of 99.8%-100%).

CONCLUSION

Being able to reconstruct dose during delivery enables online quality assurance and online replanning strategies for VMAT. The offline quality assurance tool provides the means to validate novel online dose reconstruction applications using a commercial dose calculation engine.

A novel probabilistic approach to generating PTV with partial voxel contributions

Radiotherapy treatment planning for use with high-energy photon beams currently employs a binary approach in defining the planning target volume (PTV). We propose a margin concept that takes the beam directions into account, generating beam-dependent PTVs (bdPTVs) on a beam-by-beam basis. The resulting degree of overlaps between the bdPTVs are used within the optimisation process; the optimiser effectively considers the same voxel to be both target and organ at risk (OAR) with fractional contributions. We investigate the impact of this novel approach when applied to prostate radiotherapy treatments, and compare treatment plans generated using beam dependent margins to conventional margins. Five prostate patients were used in this planning study, and plans using beam dependent margins improved the sparing of high doses to target-surrounding OARs, though a trade-off in delivering additional low dose to the OARs can be observed. Plans using beam dependent margins are observed to have a slightly reduced target coverage. Nevertheless, all plans are able to satisfy 90% population coverage with the target receiving at least 95% of the prescribed dose to [Formula: see text].

Examination of a deformable motion model for respiratory movements and 4D dose calculations using different driving surrogates

PURPOSE

The aim of this study was to evaluate a surrogate-driven motion model based on four-dimensional computed tomography that is able to predict CT volumes corresponding to arbitrary respiratory phases. Furthermore, the comparison of three different driving surrogates is examined and the feasibility of using the model for 4D dose re-calculation will be discussed.

METHODS

The study is based on repeated 4DCTs of twenty patients treated for bronchial carcinoma and metastasis. The motion model was estimated from the planning 4DCT through deformable image registration. To predict a certain phase of a follow-up 4DCT, the model considers inter-fractional variations (baseline correction) and intra-fractional respiratory parameters (amplitude and phase) derived from surrogates. The estimated volumes resulting from the model were compared to ground-truth clinical 4DCTs using absolute HU differences in the lung region and landmarks localized using the Scale Invariant Feature Transform. Finally, the γ-index was used to evaluate the dosimetric effects of the intensity differences measured between the estimated and the ground-truth CT volumes.

RESULTS

The results show absolute HU differences between estimated and ground-truth images with median value (± standard deviation) of (61.3 ± 16.7) HU. Median 3D distances, measured on about 400 matching landmarks in each volume, were (2.9 ± 3.0) mm. 3D errors up to 28.2 mm were found for CT images with artifacts or reduced quality. Pass rates for all surrogate approaches were above 98.9% with a γ-criterion of 2%/2 mm.

CONCLUSION

The results depend mainly on the image quality of the initial 4DCT and the deformable image registration. All investigated surrogates can be used to estimate follow-up 4DCT phases, however, uncertainties decrease for volumetric approaches. Application of the model for 4D dose calculations is feasible.

Quantitative evaluation by measurement and modeling of the variations in dose distributions deposited in mobile targets

The objective of this study is to quantitatively evaluate variations of dose distributions deposited in mobile target by measurement and modeling. The effects of variation in dose distribution induced by motion on tumor dose coverage and sparing of normal tissues were investigated quantitatively. The dose distributions with motion artifacts were modeled considering different motion patterns that include (a) motion with constant speed and (b) sinusoidal motion. The model predictions of the dose distributions with motion artifacts were verified with measurement where the dose distributions from various plans that included three-dimensional conformal and intensity-modulated fields were measured with a multiple-diode-array detector (MapCheck2), which was mounted on a mobile platform that moves with adjustable motion parameters. For each plan, the dose distributions were then measured with MapCHECK2 using different motion amplitudes from 0-25 mm. In addition, mathematical modeling was developed to predict the variations in the dose distributions and their dependence on the motion parameters that included amplitude, frequency and phase for sinusoidal motions. The dose distributions varied with motion and depended on the motion pattern particularly the sinusoidal motion, which spread out along the direction of motion. Study results showed that in the dose region between isocenter and the 50% isodose line, the dose profile decreased with increase of the motion amplitude. As the range of motion became larger than the field length along the direction of motion, the dose profiles changes overall including the central axis dose and 50% isodose line. If the total dose was delivered over a time much longer than the periodic time of motion, variations in motion frequency and phase do not affect the dose profiles. As a result, the motion dose modeling developed in this study provided quantitative characterization of variation in the dose distributions induced by motion, which can be employed in radiation therapy to quantitatively determine the margins needed for treatment planning considering dose spillage to normal tissue.

Real-time 4D dose reconstruction for tracked dynamic MLC deliveries for lung SBRT

PURPOSE

This study provides a proof of concept for real-time 4D dose reconstruction for lung stereotactic body radiation therapy (SBRT) with multileaf collimator (MLC) tracking and assesses the impact of tumor tracking on the size of target margins.

METHODS

The authors have implemented real-time 4D dose reconstruction by connecting their tracking and delivery software to an Agility MLC at an Elekta Synergy linac and to their in-house treatment planning software (TPS). Actual MLC apertures and (simulated) target positions are reported to the TPS every 40 ms. The dose is calculated in real-time from 4DCT data directly after each reported aperture by utilization of precalculated dose-influence data based on a Monte Carlo algorithm. The dose is accumulated onto the peak-exhale (reference) phase using energy-mass transfer mapping. To investigate the impact of a potentially reducible safety margin, the authors have created and delivered treatment plans designed for a conventional internal target volume (ITV) + 5 mm, a midventilation approach, and three tracking scenarios for four lung SBRT patients. For the tracking plans, a moving target volume (MTV) was established by delineating the gross target volume (GTV) on every 4DCT phase. These were rigidly aligned to the reference phase, resulting in a unified maximum GTV to which a 1, 3, or 5 mm isotropic margin was added. All scenarios were planned for 9-beam step-and-shoot IMRT to meet the criteria of RTOG 1021 (3 × 18 Gy). The GTV 3D center-of-volume shift varied from 6 to 14 mm.

RESULTS

Real-time dose reconstruction at 25 Hz could be realized on a single workstation due to the highly efficient implementation of dose calculation and dose accumulation. Decreased PTV margins resulted in inadequate target coverage during untracked deliveries for patients with substantial tumor motion. MLC tracking could ensure the GTV target dose for these patients. Organ-at-risk (OAR) doses were consistently reduced by decreased PTV margins. The tracked MTV + 1 mm deliveries resulted in the following OAR dose reductions: lung V20 up to 3.5%, spinal cord D2 up to 0.9 Gy/Fx, and proximal airways D2 up to 1.4 Gy/Fx.

CONCLUSIONS

The authors could show that for patient data at clinical resolution and realistic motion conditions, the delivered dose could be reconstructed in 4D for the whole lung volume in real-time. The dose distributions show that reduced margins yield lower doses to healthy tissue, whilst target dose can be maintained using dynamic MLC tracking.

First evaluation of the feasibility of MLC tracking using ultrasound motion estimation

PURPOSE

To quantify the performance of the Clarity ultrasound (US) imaging system (Elekta AB, Stockholm, Sweden) for real-time dynamic multileaf collimator (MLC) tracking.

METHODS

The Clarity calibration and quality assurance phantom was mounted on a motion platform moving with a periodic sine wave trajectory. The detected position of a 30 mm hypoechogenic sphere within the phantom was continuously reported via Clarity's real-time streaming interface to an in-house tracking and delivery software and subsequently used to adapt the MLC aperture. A portal imager measured MV treatment field/MLC apertures and motion platform positions throughout each experiment to independently quantify system latency and geometric error. Based on the measured range of latency values, a prostate stereotactic body radiation therapy (SBRT) delivery was performed with three realistic motion trajectories. The dosimetric impact of system latency on MLC tracking was directly measured using a 3D dosimeter mounted on the motion platform.

RESULTS

For 2D US imaging, the overall system latency, including all delay times from the imaging and delivery chain, ranged from 392 to 424 ms depending on the lateral sector size. For 3D US imaging, the latency ranged from 566 to 1031 ms depending on the elevational sweep. The latency-corrected geometric root-mean squared error was below 0.75 mm (2D US) and below 1.75 mm (3D US). For the prostate SBRT delivery, the impact of a range of system latencies (400-1000 ms) on the MLC tracking performance was minimal in terms of gamma failure rate.

CONCLUSIONS

Real-time MLC tracking based on a noninvasive US input is technologically feasible. Current system latencies are higher than those for x-ray imaging systems, but US can provide full volumetric image data and the impact of system latency was measured to be small for a prostate SBRT case when using a US-like motion input.

Lung stereotactic body radiotherapy with an MR-linac - Quantifying the impact of the magnetic field and real-time tumor tracking

BACKGROUND AND PURPOSE

There are concerns that radiotherapy doses delivered in a magnetic field might be distorted due to the Lorentz force deflecting secondary electrons. This study investigates this effect on lung stereotactic body radiotherapy (SBRT) treatments, conducted either with or without multileaf collimator (MLC) tumor tracking.

MATERIAL AND METHODS

Lung SBRT treatments with an MR-linac were simulated for nine patients. Two different treatment techniques were compared: conventional, non-tracked deliveries and deliveries with real-time MLC tumor tracking, each conducted either with or without a 1.5T magnetic field.

RESULTS

Slight dose distortions at air-tissue-interfaces were observed in the presence of the magnetic field. Most prominently, the dose to 2% of the skin increased by 1.4Gy on average. Regardless of the presence of the magnetic field, MLC tracking was able to spare healthy tissue, for example by decreasing the mean lung dose by 0.3Gy on average, while maintaining the target dose.

CONCLUSIONS

Accounting for the magnetic field during treatment plan optimization allowed for design and delivery of clinically acceptable lung SBRT treatments with an MR-linac. Furthermore, the ability of MLC tumor tracking to decrease dose exposure of healthy tissue, was not inhibited by the magnetic field.