Dependence of linac output on the switch rate of an intensity-modulated tomotherapy collimator

Measurement and correction of leaf open times in helical tomotherapy

PURPOSE

The binary multileaf collimator (MLC) is one of the most important components in helical tomotherapy (HT), as it modulates the dose delivered to the patient. However, methods to ensure MLC quality in HT treatments are lacking. The authors obtained data on the performance of the MLC in treatments administered in their department in order to assess possible delivery errors due to the MLC. Correction methods based on their data are proposed.

METHODS

Twenty sinograms from treatments delivered using both of the authors HT systems were measured and analyzed by recording the fluence collected by the imaging detector. Planned and actual sinograms were compared using distributions of leaf open time (LOT) errors, as well as differences in fluence reconstructed at each of the 51 projections into which the treatment planning system divides each rotation for optimization purposes. They proposed and applied a method based on individual leaf error correction and the increase in projection time to prevent latency effects when LOT is close to projection time. In order to analyze the dosimetric impact of the corrections, inphantom measurements were made for four corrected treatments.

RESULTS

The LOTs measured were consistent with those planned. Most of the mean errors in LOT distributions were within 1 ms with standard deviations of over 4 ms. Reconstructed fluences showed good results, with over 90% of points passing the 3% criterion, except in treatments with a short mean LOT, where the percentage of passing points was as low as 66%. Individual leaf errors were as long as 4 ms in some cases. Corrected sinograms improved error distribution, with standard deviations of over 3 ms and increased percentages of points passing 3% in the fluence per angle analysis, especially in treatments with a short mean LOT and those that were more subject to latency effects. The minimum percentage of points within 3% increased to 86%. In-phantom measurements of the corrected treatments showed that, while treatments affected by latency effects were improved, those affected by individual leaf errors were not.

CONCLUSIONS

Measurement of MLC performance in real treatments provides the authors with a valuable tool for ensuring the quality of HT delivery. The LOTs of MLC are very accurate in most cases. Sources of error were found and correction methods proposed and applied. The corrections decreased the amount of LOT errors. The dosimetric impact of these corrections should be evaluated more thoroughly using 3D dose distribution analysis.

Tomotherapy and other innovative IMRT delivery systems

Fixed-field treatments, delivered using conventional clinical linear accelerators fitted with multileaf collimators, have rapidly become the standard form of intensity-modulated radiotherapy (IMRT). Several innovative nonstandard alternatives also exist, for which delivery and treatment planning systems are now commercially available. Three of these nonstandard IMRT approaches are reviewed here: tomotherapy, robotic linear accelerators (CyberKnife, Accuray Inc., Sunnyvale, CA), and standard linear accelerators modulated by jaws alone or by their jaws acting together with a tertiary beam-masking device. Rationales for the nonstandard IMRT approaches are discussed, and elements of their delivery system designs are briefly described. Differences between fixed-field IMRT dose distributions and the distributions that can be delivered by using the nonstandard technologies are outlined. Because conventional linear accelerators are finely honed machines, innovative design enhancement of one aspect of system performance often limits another facet of machine capability. Consequently the various delivery systems may prove optimal for different types of treatment, with specific machine designs excelling for disease sites with specific target volume and normal structure topologies. However it is likely that the delivery systems will be distinguished not just by the optimality of the dose distributions they deliver, but also by factors such as the efficiency of their treatment process, the integration of their onboard imaging systems into that process, and their ability to measure and minimize or compensate for target movement, including the effects of respiratory motion.

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

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

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

Quality assurance of a helical tomotherapy machine

Helical tomotherapy has been developed at the University of Wisconsin, and 'Hi-Art II' clinical machines are now commercially manufactured. At the core of each machine lies a ring-gantry-mounted short linear accelerator which generates x-rays that are collimated into a fan beam of intensity-modulated radiation by a binary multileaf, the modulation being variable with gantry angle. Patients are treated lying on a couch which is translated continuously through the bore of the machine as the gantry rotates. Highly conformal dose-distributions can be delivered using this technique, which is the therapy equivalent of spiral computed tomography. The approach requires synchrony of gantry rotation, couch translation, accelerator pulsing and the opening and closing of the leaves of the binary multileaf collimator used to modulate the radiation beam. In the course of clinically implementing helical tomotherapy, we have developed a quality assurance (QA) system for our machine. The system is analogous to that recommended for conventional clinical linear accelerator QA by AAPM Task Group 40 but contains some novel components, reflecting differences between the Hi-Art devices and conventional clinical accelerators. Here the design and dosimetric characteristics of Hi-Art machines are summarized and the QA system is set out along with experimental details of its implementation. Connections between this machine-based QA work, pre-treatment patient-specific delivery QA and fraction-by-fraction dose verification are discussed.

Lateral loss and dose discrepancies of multileaf collimator segments in intensity modulated radiation therapy

In the step-and-shoot technique delivery of intensity modulated radiation therapy (IMRT), each static field consists of a number of beamlets, some of which may be very small. In this study, we measured the dose characteristics for a range of field sizes: 2 x 2 to 12 x 10 cm2 for 6 and 15 MV x rays. For a given field length, a number of treatment fields are set up by sequentially increasing the field width using a multi leaf collimator. A set of fields is delivered with the accelerator operated in the IMRT mode. Using an ion chamber, the output factors at 1 cm and 3 cm laterally from a field edge are measured at different depths in a solid water phantom. Our results show that with insufficient lateral distance in at least one direction, the absorbed dose never reaches the equilibrium values, and can be significantly lower for very small field sizes. For example, the output factor of the 2 x 2 cm2 field relative to 10 x 10 cm2 at d(max0 is 0.832 and 0.790 for 6 MV and 15 MV x rays, respectively. Multiple output factor curves are obtained for different field lengths and different buildup conditions. Thus under nonequilibrium conditions, output factors are critically dependent on the field size and the conventional method of determining the equivalent square does not apply. Comparison of output factors acquired in the commissioning of the accelerator with those measured in the present study under conditions of nonequilibrium shows large discrepancies between the two sets of measurements. Thus monitor units generated by a treatment planning system using beam data commissioned with symmetric fields may be underestimated by > 5%, depending on the size and shape of the segments. To facilitate manual MU calculation as an independent check in step-and-shoot IMRT, the concept of effective equivalent square (EES) is introduced. Using EES, output factors can be calculated using existing beam data for fields with asymmetric collimator settings and under conditions of lateral disequilibrium.

Guidance document on delivery, treatment planning, and clinical implementation of IMRT: report of the IMRT Subcommittee of the AAPM Radiation Therapy Committee

Intensity-modulated radiation therapy (IMRT) represents one of the most significant technical advances in radiation therapy since the advent of the medical linear accelerator. It allows the clinical implementation of highly conformal nonconvex dose distributions. This complex but promising treatment modality is rapidly proliferating in both academic and community practice settings. However, these advances do not come without a risk. IMRT is not just an add-on to the current radiation therapy process; it represents a new paradigm that requires the knowledge of multimodality imaging, setup uncertainties and internal organ motion, tumor control probabilities, normal tissue complication probabilities, three-dimensional (3-D) dose calculation and optimization, and dynamic beam delivery of nonuniform beam intensities. Therefore, the purpose of this report is to guide and assist the clinical medical physicist in developing and implementing a viable and safe IMRT program. The scope of the IMRT program is quite broad, encompassing multileaf-collimator-based IMRT delivery systems, goal-based inverse treatment planning, and clinical implementation of IMRT with patient-specific quality assurance. This report, while not prescribing specific procedures, provides the framework and guidance to allow clinical radiation oncology physicists to make judicious decisions in implementing a safe and efficient IMRT program in their clinics.

Output variation from an intensity modulating dynamic collimator

Intensity modulated radiation therapy (IMRT) offers a method of delivering radiation dose conforming to the shape of targets while minimizing the dose to the surrounding tissue and nearby critical organs. One popular device is the NOMOS MIMiC Collimator coupled to the CORVUS treatment planning system. The MIMiC collimator, mounted on a linac head, opens and closes one or more of its 40 small leaves as determined by the planner while the linac delivers radiation and the gantry rotates. This dynamic IMRT allows the intensity to be modulated yielding a highly conformal dose distribution. However, the dose output becomes a function of the detailed manner in which the leaves open and close, since the opening and closing are not instantaneous. We investigate the effect of switch rates and delay in the open/close events on the output profiles. The output is enhanced as the switch rate increases. The enhancement factor at any point of measurement is dependent on its distance from the central plane. We interpret these variations in terms of a simple model, which includes the effect of leaf travel time during the process of opening and closing. We also include the time delay in establishing the specified pressure in the pneumonic device, which controls the opening and closing of the leaves. The information presented here offers a means for incorporating these output changes into the planning system. This may avoid the current situation where many patient plans need to be renormalized based on the actual measurement taken during the delivery of the specified intensity pattern to a phantom.

Comparison of beam characteristics in intensity modulated radiation therapy (IMRT) and those under normal treatment condition

In the step-and-shoot delivery of an IMRT plan with a Siemens Primus accelerator, radiation is turned off by desynchronizing the injector while the field parameters are being changed. When the machine is ready again a trigger pulse is sent to the injector to start the beam instantaneously. The objective of this study is to investigate the beam characteristics of the machine operating in the IMRT mode and to study the effect of the Initial Pulse Forming Network (IPEN) on the dark current. The central axis (CAX) output for a 10 x 10 cm2 field over the range 1-100 MU was measured with an ion chamber in a polystyrene phantom for both 6 and 15 MV x rays. Beam profiles were also measured over the range of 2-40 MU with the machine operating in the IMRT mode and compared with those in the normal mode. By adjusting the IPFN value, dark current radiation (DCR) was measured using ion chamber measurements. For both the normal and IMRT modes, dose versus MU is nonlinear in the range 1-5 MUs. Above 5 MU, dose varies linearly with MU for both 6 and 15 MV x rays. For stability of dose profiles, the 2 MU-IM group exhibit 20% variation from one subfield to another. The variation is about 5% for the 8 MU-IM group and <5% for 10 MU and higher. The results are similar in the normal treatment mode. With the IPFN at >80% of the PFN value, a spurious radiation associated with dark current at approximately 0.7% of the dose at isocenter for a 10 x 10 cm2 field is detected during the "PAUSE" state of the accelerator for 15 MV x rays. When the IPFN is lowered to <80% of the PFN value, no DCR is detected. For 6 MV x rays, no measurable DCR was detected regardless of the IPFN setting.

On the verification of the incident energy fluence in tomotherapy IMRT

For any radiotherapy verification technique, it is desirable that issues with the accelerator, multileaf collimator and patient position be detected. In previous works, an effective method for this level of verification was presented. This paper identifies second-order issues affecting the part of the process in which the incident energy fluence is verified. These problems will affect any rotational intensity-modulated radiotherapy delivery that divides each rotation or arc into projections: however the solutions offered in this paper are specific to the method previously developed. The issues affecting the energy fluence verification method include leaf bouncing. delivery implementation and leaf latency. All three matters were found to introduce small errors in the verified energy fluence values for a small fraction of leaf states. The overall effect on the deposited dose over the course of a rotational delivery involving thousands of beam pulses per rotation is negligible. Regardless, effective correction strategies are presented; these are utilized in order to characterize both the delivered energy fluence and deposited dose as accurately as possible.

Concepts for shuttling multileaf collimators for intensity-modulated radiation therapy

Shuttling multileaf collimators (SMLCs) can increase the MU efficiency of intensity-modulated radiation therapy compared with the multiple-static-field (MSF-MLC) technique or dynamic MLC (DMLC) technique with conventional MLCs. In a previous paper (Phys. Med. Biol. 45 3343-58) a particular SMLC was shown, for highly modulated intensity distributions, to increase the MU efficiency compared with the MSF-MLC technique. In this companion paper, two new arrangements similar to that described in the earlier paper, but with less mechanical complexity, are shown to be constructionally simpler but less MU efficient. Additionally another new concept of SMLC is shown which also increases the MU efficiency compared with the MSF-MLC technique and often improves the MU efficiency compared with the previously reported SMLC for highly modulated intensity distributions. It also leads to zero tongue-and-groove underdose in the direction orthogonal to that of the shuttling elements (so-called across-the-rows).