Evaluation of Deformable Image Registration (DIR) Methods for Dose Accumulation in Nasopharyngeal Cancer Patients during Radiotherapy

A comparative study on automatic treatment planning for online adaptive proton therapy of esophageal cancer: which combination of deformable registration and deep learning planning tools performs the best?

Objective.To demonstrate the feasibility of integrating fully-automated online adaptive proton therapy strategies (OAPT) within a commercially available treatment planning system and underscore what limits their clinical implementation. These strategies leverage existing deformable image registration (DIR) algorithms and state-of-the-art deep learning (DL) networks for organ segmentation and proton dose prediction.Approach.Four OAPT strategies featuring automatic segmentation and robust optimization were evaluated on a cohort of 17 patients, each undergoing a repeat CT scan. (1) DEF-INIT combines deformably registered contours with template-based optimization. (2) DL-INIT, (3) DL-DEF, and (4) DL-DL employ a nnU-Net DL network for organ segmentation and a controlling ROIs-guided DIR algorithm for internal clinical target volume (iCTV) segmentation. DL-INIT uses this segmentation alongside template-based optimization, DL-DEF integrates it with a dose-mimicking (DM) step using a reference deformed dose, and DL-DL merges it with DM on a reference DL-predicted dose. All strategies were evaluated on manual contours and contours used for optimization and compared with manually adapted plans. Key dose volume metrics like iCTV D98% are reported.Main results.iCTV D98% was comparable in manually adapted plans and for all strategies in nominal cases but dropped to 20 Gy in worst-case scenarios for a few patients per strategy, highlighting the need to correct segmentation errors in the target volume. Evaluations on optimization contours showed minimal relative error, with some outliers, particularly in template-based strategies (DEF-INIT and DL-INIT). DL-DEF achieves a good trade-off between speed and dosimetric quality, showing a passing rate (iCTV D98% > 94%) of 90% when evaluated against 2, 4 and 5 mm setup error and of 88% when evaluated against 7 mm setup error. While template-based methods are more rigid, DL-DEF and DL-DL have potential for further enhancements with proper DM algorithm tuning.Significance.Among investigated strategies, DL-DEF and DL-DL demonstrated promising within 10 min OAPT implementation results and significant potential for improvements.

Geometric evaluation and quantifying dosimetric impact of diverse deformable image registration algorithms on abdomen images with biomechanically modeled deformations

PURPOSE

Deformable image registration (DIR) has been increasingly used in radiation therapy (RT). The accuracy of DIR algorithms and how it impacts on the RT plan dosimetrically were examined in our study for abdominal sites using biomechanically modeled deformations.

METHODS

Five pancreatic cancer patients were enrolled in this study. Following the guidelines of AAPM TG-132, a patient-specific quality assurance (QA) workflow was developed to evaluate DIR for the abdomen using the TG-132 recommended virtual simulation software ImSimQA (Shrewsbury, UK). First, the planning CT was deformed to simulate respiratory motion using the embedded biomechanical model in ImSimQA. Additionally, 5 mm translational motion was added to the stomach, duodenum, and small bowel. The original planning CT and the deformed CT were then imported into Eclipse and MIM to perform DIR. The output displacement vector fields (DVFs) were compared with the ground truth from ImSimQA. Furthermore, the original treatment plan was recalculated on the ground-truth deformed CT and the deformed CT (with Eclipse and MIM DVF). The dose errors were calculated on a voxel-to-voxel basis.

RESULTS

Data analysis comparing DVF from Eclipse versus MIM show the average mean DVF magnitude errors of 2.8 ± 1.0  versus 1.1 ± 0.7 mm for stomach and duodenum, 5.2 ± 4.0  versus 2.5 ± 1.0 mm for small bowel, and 4.8 ± 4.1  versus 2.7 ± 1.1 mm for the gross tumor volume (GTV), respectively, across all patients. The mean dose error on stomach+duodenum and small bowel were 2.3 ± 0.6% for Eclipse, and 1.0 ± 0.3% for MIM. As the DIR magnitude error increases, the dose error range increase, for both Eclipse and MIM.

CONCLUSION

In our study, an initial assessment was conducted to evaluate the accuracy of DIR and its dosimetric impact on radiotherapy. A patient-specific DIR QA workflow was developed for pancreatic cancer patients. This workflow exhibits promising potential for future implementation as a clinical workflow.

The effects of mega-voltage CT scan parameters on offline adaptive radiation therapy

TomoTherapy involves image-guided radiation therapy (IGRT) using Mega-voltage CT (MVCT) for each treatment session. The acquired MVCT images can be utilized for the retrospective assessment of dose distribution. The TomoTherapy provides 18 distinct imaging conditions that can be selected based on a combination of algorithms, acquisition pitch, and slice interval. We investigated the accuracy of dose calculation and deformable image registration (DIR) depending on MVCT scan parameters and their effects on adaptive radiation therapy (ART). We acquired image values for density calibration tables (IVDTs) under 18 different MVCT conditions and compared them. The planning CT (pCT) was performed using a thoracic phantom, and an esophageal intensity-modulated radiation therapy (IMRT) plan was created. MVCT images of the thoracic phantom were acquired under each of the 18 conditions, and dose recalculation was performed. DIR was performed on the MVCT images acquired under each condition. The accuracy of DIR, depending on the MVCT scan parameters, was compared using the mean distance to agreement (MDA) and Dice similarity coefficient (DSC). The dose distribution calculated on the MVCT images was deformed using deformed vector fields (DVF). No significant differences were observed in the results of the 18 IVDTs. The esophageal IMRT plan also showed a small dose difference. Regarding verifying the DIR accuracy, the MDA increased, and the DSC decreased as the acquisition pitch and slice interval increased. The difference between the dose distributions after dose mapping was comparable to that before DIR. The MVCT scan parameters had little effect on ART.

Dose evaluations of organs at risk and predictions of gastrointestinal toxicity after re-irradiation with stereotactic body radiation therapy for pancreatic cancer by deformable image registration

Purpose

Re-irradiation of locally recurrent pancreatic cancer may be an optimal choice as a local ablative therapy. However, dose constraints of organs at risk (OARs) predictive of severe toxicity remain unknown. Therefore, we aim to calculate and identify accumulated dose distributions of OARs correlating with severe adverse effects and determine possible dose constraints regarding re-irradiation.

Methods

Patients receiving two courses of stereotactic body radiation therapy (SBRT) for the same irradiated regions (the primary tumors) due to local recurrence were included. All doses of the first and second plans were recalculated to an equivalent dose of 2 Gy per fraction (EQD₂). Deformable image registration with the workflow "Dose Accumulation-Deformable" of the MIM^® System (version: 6.6.8) was performed for dose summations. Dose-volume parameters predictive of grade 2 or more toxicities were identified, and the receiver operating characteristic (ROC) curve was used to determine optimal thresholds of dose constraints.

Results

Forty patients were included in the analysis. Only the V ₁₀ of the stomach [hazard ratio (HR): 1.02 (95% CI:1.00-1.04), P = 0.035] and D _mean of the intestine [HR: 1.78 (95% CI: 1.00-3.18), P = 0.049] correlated with grade 2 or more gastrointestinal toxicity. Hence, the equation of probability of such toxicity was P = 1 1 + e - ( - 4.155 + 0.579 D mean of the intestine + 0.021 V 10  of the stomach ) Additionally, the area under the ROC curve and threshold of dose constraints of V ₁₀ of the stomach and D _mean of the intestine were 0.779 and 77.575 cc, 0.769 and 4.22 Gy₃ (α/β = 3), respectively. The area under the ROC curve of the equation was 0.821.

Conclusion

The V ₁₀ of the stomach and D _mean of the intestine may be vital parameters to predict grade 2 or more gastrointestinal toxicity, of which the threshold of dose constraints may be beneficial for the practice of re-irradiation of locally relapsed pancreatic cancer.

Evaluation of DIR algorithm performance in real patients for radiotherapy treatments: A systematic review of operator-dependent strategies

PURPOSE

The performance of deformable medical image registration (DIR) algorithms has become a major concern.

METHODS

We aimed to obtain updated information on DIR algorithm performance quantification through a literature review of articles published between 2010 and 2022. We focused only on studies using operator-based methods to treat real patients. The PubMed, Google Scholar and Embase databases were searched following PRISMA guidelines.

RESULTS

One hundred and seven articles were identified. The mean number of patients and registrations per publication was 20 and 63, respectively. We found 23 different geometric metrics appearing at least twice, and the dosimetric impact of DIR was quantified in 32 articles. Forty-eight different at-risk organs were described, and target volumes were studied in 43 publications. Prostate, head-and-neck and thoracic locations represented more than ¾ of the studied locations. We summarized the type of DIR and the images used, and other key elements. Intra/interobserver variability, threshold values and the correlation between metrics were also discussed.

CONCLUSIONS

This literature review covers the past decade and should facilitate the implementation of DIR algorithms in clinical practice by providing practical and pertinent information to quantify their performance on real patients.

Performance Evaluation of Deformable Image Registration Algorithms Using Computed Tomography of Multiple Lung Metastases

Purpose: Various deformable image registration (DIR) methods have been used to evaluate organ deformations in 4-dimensional computed tomography (4D CT) images scanned during the respiratory motions of a patient. This study assesses the performance of 10 DIR algorithms using 4D CT images of 5 patients with fiducial markers (FMs) implanted during the postoperative radiosurgery of multiple lung metastases. Methods: To evaluate DIR algorithms, 4D CT images of 5 patients were used, and ground-truths of FMs and tumors were generated by physicians based on their medical expertise. The positions of FMs and tumors in each 4D CT phase image were determined using 10 DIR algorithms, and the deformed results were compared with ground-truth data. Results: The target registration errors (TREs) between the FM positions estimated by optical flow algorithms and the ground-truth ranged from 1.82 ± 1.05 to 1.98 ± 1.17 mm, which is within the uncertainty of the ground-truth position. Two algorithm groups, namely, optical flow and demons, were used to estimate tumor positions with TREs ranging from 1.29 ± 1.21 to 1.78 ± 1.75 mm. With respect to the deformed position for tumors, for the 2 DIR algorithm groups, the maximum differences of the deformed positions for gross tumor volume tracking were approximately 4.55 to 7.55 times higher than the mean differences. Errors caused by the aforementioned difference in the Hounsfield unit values were also observed. Conclusions: We quantitatively evaluated 10 DIR algorithms using 4D CT images of 5 patients and compared the results with ground-truth data. The optical flow algorithms showed reasonable FM-tracking results in patient 4D CT images. The iterative optical flow method delivered the best performance in this study. With respect to the tumor volume, the optical flow and demons algorithms delivered the best performance.

Quantitative assessment of intra- and inter-modality deformable image registration of the heart, left ventricle, and thoracic aorta on longitudinal 4D-CT and MR images

Purpose

Magnetic resonance imaging (MRI)‐based investigations into radiotherapy (RT)‐induced cardiotoxicity require reliable registrations of magnetic resonance (MR) imaging to planning computed tomography (CT) for correlation to regional dose. In this study, the accuracy of intra‐ and inter‐modality deformable image registration (DIR) of longitudinal four‐dimensional CT (4D‐CT) and MR images were evaluated for heart, left ventricle (LV), and thoracic aorta (TA).

Methods and materials

Non‐cardiac‐gated 4D‐CT and T1 volumetric interpolated breath‐hold examination (T1‐VIBE) MRI datasets from five lung cancer patients were obtained at two breathing phases (inspiration/expiration) and two time points (before treatment and 5 weeks after initiating RT). Heart, LV, and TA were manually contoured. Each organ underwent three intramodal DIRs ((A) CT modality over time, (B) MR modality over time, and (C) MR contrast effect at the same time) and two intermodal DIRs ((D) CT/MR multimodality at same time and (E) CT/MR multimodality over time). Hausdorff distance (HD), mean distance to agreement (MDA), and Dice were evaluated and assessed for compliance with American Association of Physicists in Medicine (AAPM) Task Group (TG)‐132 recommendations.

Results

Mean values of HD, MDA, and Dice under all registration scenarios for each region of interest ranged between 8.7 and 16.8 mm, 1.0 and 2.6 mm, and 0.85 and 0.95, respectively, and were within the TG‐132 recommended range (MDA < 3 mm, Dice > 0.8). Intramodal DIR showed slightly better results compared to intermodal DIR. Heart and TA demonstrated higher registration accuracy compared to LV for all scenarios except for HD and Dice values in Group A. Significant differences for each metric and tissue of interest were noted between Groups B and D and between Groups B and E. MDA and Dice significantly differed between LV and heart in all registrations except for MDA in Group E.

Conclusions

DIR of the heart, LV, and TA between non‐cardiac‐gated longitudinal 4D‐CT and MRI across two modalities, breathing phases, and pre/post‐contrast is acceptably accurate per AAPM TG‐132 guidelines. This study paves the way for future evaluation of RT‐induced cardiotoxicity and its related factors using multimodality DIR.

Biologically consistent dose accumulation using daily patient imaging

BACKGROUND

This work addresses a basic inconsistency in the way dose is accumulated in radiotherapy when predicting the biological effect based on the linear quadratic model (LQM). To overcome this inconsistency, we introduce and evaluate the concept of the total biological dose, bEQD_d.

METHODS

Daily computed tomography imaging of nine patients treated for prostate carcinoma with intensity-modulated radiotherapy was used to compute the delivered deformed dose on the basis of deformable image registration (DIR). We compared conventional dose accumulation (DA) with the newly introduced bEQD_d, a new method of accumulating biological dose that considers each fraction dose and tissue radiobiology. We investigated the impact of the applied fractionation scheme (conventional/hypofractionated), uncertainties induced by the DIR and by the assigned α/β-value.

RESULTS

bEQD_d was systematically higher than the conventionally accumulated dose with difference hot spots of 3.3-4.9 Gy detected in six out of nine patients in regions of high dose gradient in the bladder and rectum. For hypofractionation, differences are up to 8.4 Gy. The difference amplitude was found to be in a similar range to worst-case uncertainties induced by DIR and was higher than that induced by α/β.

CONCLUSION

Using bEQD_d for dose accumulation overcomes a potential systematic inaccuracy in biological effect prediction based on accumulated dose. Highest impact is found for serial-type late responding organs at risk in dose gradient regions and for hypofractionation. Although hot spot differences are in the order of several Gray, in dose-volume parameters there is little difference compared with using conventional or biological DA. However, when local dose information is used, e.g. dose surface maps, difference hot spots can potentially change outcomes of dose-response modelling and adaptive treatment strategies.

Accumulation of the delivered dose based on cone-beam CT and deformable image registration for non-small cell lung cancer treated with hypofractionated radiotherapy

Background

This study aimed to quantify the dosimetric differences between the planned and delivered dose to tumor and normal organs in locally advanced non-small cell lung cancer (LANSCLC) treated with hypofractionated radiotherapy (HRT), and to explore the necessity and identify optimal candidates for adaptive radiotherapy (ART).

Methods

Twenty-seven patients with stage III NSCLC were enrolled. Planned radiation dose was 51Gy in 17 fractions with cone-beam CT (CBCT) acquired at each fraction. Virtual CT was generated by deformable image registration (DIR) of the planning CT to CBCT for dose calculation and accumulation. Dosimetric parameters were compared between original and accumulated plans using Wilcoxon signed rank test. Correlations between dosimetric differences and clinical variables were analyzed using Mann-Whitney U test or Chi-square test.

Results

Patients had varied gross tumor volume (GTV) reduction by HRT (median reduction rate 11.1%, range − 2.9-44.0%). The V₅₁ of planning target volume for GTV (PTV-GTV) was similar between original and accumulated plans (mean, 88.2% vs. 87.6%, p = 0.452). Only 11.1% of patients had above 5% relative decrease in V₅₁ of PTV-GTV in accumulated plans. Compared to the original plan, limited increase (median relative increase < 5%) was observed in doses of total lung (mean dose, V₂₀ and V₃₀), esophagus (mean dose, maximum dose) and heart (mean dose, V₃₀ and V₄₀) in accumulated plans. Less than 30% of patients had above 5% relative increase of lung or heart doses. Patients with quick tumor regression or baseline obstructive pneumonitis showed more notable increase in doses to normal structures. Patients with baseline obstructive atelectasis showed notable decrease (10.3%) in dose coverage of PTV-GTV.

Conclusions

LANSCLC patients treated with HRT had sufficient tumor dose coverage and acceptable normal tissue dose deviation. ART should be applied in patients with quick tumor regression and baseline obstructive pneumonitis/atelectasis to spare more normal structures.

Supplementary Information

Supplementary information accompanies this paper at 10.1186/s12885-020-07617-3.

Adaptive Radiation Therapy (ART) Strategies and Technical Considerations: A State of the ART Review From NRG Oncology

The integration of adaptive radiation therapy (ART), or modifying the treatment plan during the treatment course, is becoming more widely available in clinical practice. ART offers strong potential for minimizing treatment-related toxicity while escalating or de-escalating target doses based on the dose to organs at risk. Yet, ART workflows add complexity into the radiation therapy planning and delivery process that may introduce additional uncertainties. This work sought to review presently available ART workflows and technological considerations such as image quality, deformable image registration, and dose accumulation. Quality assurance considerations for ART components and minimum recommendations are described. Personnel and workflow efficiency recommendations are provided, as is a summary of currently available clinical evidence supporting the implementation of ART. Finally, to guide future clinical trial protocols, an example ART physician directive and a physics template following standard NRG Oncology protocol is provided.

Quantifying the accuracy of deformable image registration for cone-beam computed tomography with a physical phantom

PURPOSE

Kilo-voltage cone-beam computed tomography (CBCT) is widely used for patient alignment, contour propagation, and adaptive treatment planning in radiation therapy. In this study, we evaluated the accuracy of deformable image registration (DIR) for CBCT under various imaging protocols with different noise and patient dose levels.

METHODS

A physical phantom previously developed to facilitate end-to-end testing of the DIR accuracy was used with Varian Velocity v4.0 software to evaluate the performance of image registration from CT to CT, CBCT to CT, and CBCT to CBCT. The phantom is acrylic and includes several inserts that simulate different tissue shapes and properties. Deformations and anatomic changes were simulated by changing the rotations of both the phantom and the inserts. CT images (from a head and neck protocol) and CBCT images (from pelvis, head and "Image Gently" protocols) were obtained with different image noise and dose levels. Large inserts were filled with Mobil DTE oil to simulate soft tissue, and small inserts were filled with bone materials. All inserts were contoured before the DIR process to provide a ground truth contour size and shape for comparison. After the DIR process, all deformed contours were compared with the originals using Dice similarity coefficient (DSC) and mean distance to agreement (MDA). Both large and small volume of interests (VOIs) for DIR volume selection were tested by simulating a DIR process that included whole patient image volume and clinical target volumes (CTV) only (for CTVs propagation).

RESULTS

For cross-modality DIR registration (CT to CBCT), the DSC were >0.8 and the MDA were <3 mm for CBCT pelvis, and CBCT head protocols. For CBCT to CBCT and CT to CT, the DIR accuracy was improved relative to the cross-modality tests. For smaller VOIs, the DSC were >0.8 and MDA <2 mm for all modalities.

CONCLUSIONS

The accuracy of DIR depends on the quality of the CBCT image at different dose and noise levels.

Deformable image registration for radiation therapy: principle, methods, applications and evaluation

Background: Deformable image registration (DIR) is increasingly used in the field of radiation therapy (RT) to account for anatomical deformations. The aims of this paper are to describe the main applications of DIR in RT and discuss current DIR evaluation methods. Methods: Articles on DIR published from January 2000 to October 2018 were extracted from PubMed and Science Direct. Our search was restricted to articles that report data obtained from humans, were written in English, and address DIR methods for RT. A total of 207 articles were selected from among 2506 identified in the search process. Results: At planning, DIR is used for organ delineation using atlas-based segmentation, deformation-based planning target volume definition, functional planning and magnetic resonance imaging-based dose calculation. In image-guided RT, DIR is used for contour propagation and dose calculation on per-treatment imaging. DIR is also used to determine the accumulated dose from fraction to fraction in external beam RT and brachytherapy, both for dose reporting and adaptive RT. In the case of re-irradiation, DIR can be used to estimate the cumulated dose of the two irradiations. Finally, DIR can be used to predict toxicity in voxel-wise population analysis. However, the evaluation of DIR remains an open issue, especially when dealing with complex cases such as the disappearance of matter. To quantify DIR uncertainties, most evaluation methods are limited to geometry-based metrics. Software companies have now integrated DIR tools into treatment planning systems for clinical use, such as contour propagation and fraction dose accumulation. Conclusions: DIR is increasingly important in RT applications, from planning to toxicity prediction. DIR is routinely used to reduce the workload of contour propagation. However, its use for complex dosimetric applications must be carefully evaluated by combining quantitative and qualitative analyses.

Effect of Deformation Methods on the Accuracy of Deformable Image Registration From Kilovoltage CT to Tomotherapy Megavoltage CT

INTRODUCTION

The registration accuracy of megavoltage computed tomography images is limited by low image contrast when compared to that of kilovoltage computed tomography images. Such issues may degrade the deformable image registration accuracy. This study evaluates the deformable image registration from kilovoltage to megavoltage images when using different deformation methods and assessing nasopharyngeal carcinoma patient images.

METHODS

The kilovoltage and the megavoltage images from the first day and the 20th fractions of the treatment day of 12 patients with nasopharyngeal carcinoma were used to evaluate the deformable image registration application. The deformable image registration image procedures were classified into 3 groups, including kilovoltage to kilovoltage, megavoltage to megavoltage, and kilovoltage to megavoltage. Three deformable image registration methods were employed using the deformable image registration and adaptive radiotherapy software. The validation was compared by volume-based, intensity-based, and deformation field analyses.

RESULTS

The use of different deformation methods greatly affected the deformable image registration accuracy from kilovoltage to megavoltage. The asymmetric transformation with the demon method was significantly better than other methods and illustrated satisfactory value for adaptive applications. The deformable image registration accuracy from kilovoltage to megavoltage showed no significant difference from the kilovoltage to kilovoltage images when using the appropriate method of registration.

CONCLUSIONS

The choice of deformation method should be considered when applying the deformable image registration from kilovoltage to megavoltage images. The deformable image registration accuracy from kilovoltage to megavoltage revealed a good agreement in terms of intensity-based, volume-based, and deformation field analyses and showed clinically useful methods for nasopharyngeal carcinoma adaptive radiotherapy in tomotherapy applications.