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3-D planning and delivery system for optimized conformal therapy
... Tomotherapy using the NOMOS ® MIMiC MLC was the first widespread delivery method for IMRT [92], and was introduced in 1993. In this sequential tomotherapy approach, the linac gantry, to which the MIMiC MLC is attached, rotates around the patient and the binary position of the leaves (open or closed) are adjusted at every 0.5 degrees of gantry rotation. ...
Intensiteitsgemoduleerde radiotherapie (IMRT) laat een betere controle over de dosisdistributie (DD) toe dan meer conventionele bestralingstechnieken. Zo is het met IMRT mogelijk om concave DDs te bereiken en om de risico-organen conformeel uit te sparen. IMRT werd in het UZG klinisch toegepast voor een hele waaier van tumorlocalisaties. De toepassing van IMRT voor de bestraling van hoofd- en halstumoren (HHT) vormt het onderwerp van het eerste deel van deze thesis. De planningsstrategie voor herbestralingen en bestraling van HHT, uitgaande van de keel en de mondholte wordt beschreven, evenals de eerste klinische resultaten hiervan. IMRT voor tumoren van de neus(bij)holten leidt tot minstens even goede lokale controle (LC) en overleving als conventionele bestralingstechnieken, en dit zonder stralingsgeïnduceerde blindheid. IMRT leidt dus tot een gunstiger toxiciteitprofiel maar heeft nog geen bewijs kunnen leveren van een gunstig effect op LC of overleving. De meeste hervallen van HHT worden gezien in het gebied dat tot een hoge dosis bestraald werd, wat erop wijst dat deze “hoge dosis” niet volstaat om alle clonogene tumorcellen uit te schakelen. We startten een studie op, om de mogelijkheid van dosisescalatie op geleide van biologische beeldvorming uit te testen. Naast de toepassing en klinische validatie van IMRT bestond het werk in het kader van deze thesis ook uit de ontwikkeling en het klinisch opstarten van intensiteitgemoduleerde arc therapie (IMAT). IMAT is een rotationele vorm van IMRT (d.w.z. de gantry draait rond tijdens de bestraling), waarbij de modulatie van de intensiteit bereikt wordt door overlappende arcs. IMAT heeft enkele duidelijke voordelen ten opzichte van IMRT in bepaalde situaties. Als het doelvolume concaaf rond een risico-orgaan ligt met een grote diameter, biedt IMAT eigenlijk een oneindig aantal bundelrichtingen aan. Een planningsstrategie voor IMAT werd ontwikkeld, en type-oplossingen voor totaal abdominale bestraling en rectumbestraling werden onderzocht en klinisch toegepast.
... In recent years, the development of intensity modulated radiation therapy ͑IMRT͒ has provided many new opportunities in the delivery of conformal radiotherapy. [1][2][3][4][5][6][7][8][9][10][11][12][13] There are, however, many unanswered questions about this new method of treatment delivery. The goal of this project has been the development of a test environment that provides a means for efficiently investigating some of the unresolved issues in IMRT. ...
Convolution/superposition software has been used to produce a library of photon pencil beam dose matrices. This library of pencil beams is designed to serve as a tool for both education and investigation in the field of radiotherapy optimization. The elegance of this pencil beam model stems from its cylindrical symmetry. Because of the symmetry, the dose distribution for a pencil beam from any arbitrary angle can be determined through a simple rotation of a pre-computed dose matrix. Rapid dose calculations can thus be performed while maintaining the accuracy of a convolution/superposition based dose computation. The pencil beam data sets have been made publicly available. It is hoped that the data sets will facilitate a comparison of a variety of optimization and delivery approaches. This paper will present a number of studies designed to demonstrate the usefulness of the pencil beam data sets. These studies include an examination of the extent to which a treatment plan can be improved through either an increase in the number of beam angles and/or a decrease in the collimator size. A few insights into the significance of heterogeneity corrections for treatment planning for intensity modulated radiotherapy will also be presented.
... Tomotherapy (Mackie et al 1993 is a radiotherapy technique that employs an intensity-modulated fan-beam to deliver highly conformal or conformal avoidance (Aldridge et al 1998) treatments. Tomotherapy treatments can be conducted sequentially (Carol et al 1992(Carol et al , 1996b(Carol et al , 1997 or helically (Mackie et al 1993. In helical tomotherapy, the accelerator, a MLC system, an exit detector associated with the accelerator and a CT imaging system are mounted onto a single ring gantry. ...
Dose reconstruction is a process that re-creates the treatment-time dose deposited in a patient provided there is knowledge of the delivered energy fluence and the patient's anatomy at the time of treatment. A method for reconstructing dose is presented. The process starts with delivery verification, in which the incident energy fluence from a treatment is computed using the exit detector signal and a transfer matrix to convert the detector signal to energy fluence. With the verified energy fluence and a CT image of the patient in the treatment position, the treatment-time dose distribution is computed using any model-based algorithm such as convolution/superposition or Monte Carlo.
The accuracy of dose reconstruction and the ability of the process to reveal delivery errors are presented. Regarding accuracy, a reconstructed dose distribution was compared with a measured film distribution for a simulated breast treatment carried out on a thorax phantom. It was found that the reconstructed dose distribution agreed well with the dose distribution measured using film: the majority of the voxels were within the low and high dose-gradient tolerances of 3% and 3?mm respectively. Concerning delivery errors, it was found that errors associated with the accelerator, the multileaf collimator and patient positioning might be detected in the verified energy fluence and are readily apparent in the reconstructed dose. For the cases in which errors appear in the reconstructed dose, the possibility for adaptive radiotherapy is discussed.
... Of these three rotating gantry techniques, only serial tomotherapy with a binary collimator is in routine use treating a significant number of patients at this time. The binary collimator was described by Carol et al. (7) and Mackie et al. (8) and is manufactured by the NOMOS Corporation (Cranberry Township, Pennsylvania). This is an add-on collimator that can be positioned below the standard jaws of any linear accelerator. ...
... The beam rotation is synchronized with continuous longitudinal movement of the couch through the bore of the gantry, forming a helical beam pattern from the patient's point of view. The set of binary collimator leaves rapidly transitions between open (leaf retracted) and closed (leaf blocking) states (116,120). Figure 3 shows photographs of the helical tomotherapy unit installed at the University of Wisconsin. When operating as an MVCT system, the leaves are fully retracted to the open state. ...
To review the state of the art in image-guided precision conformal radiotherapy and to describe how helical tomotherapy compares with the image-guided practices being developed for conventional radiotherapy.
Image guidance is beginning to be the fundamental basis for radiotherapy planning, delivery, and verification. Radiotherapy planning requires more precision in the extension and localization of disease. When greater precision is not possible, conformal avoidance methodology may be indicated whereby the margin of disease extension is generous, except where sensitive normal tissues exist. Radiotherapy delivery requires better precision in the definition of treatment volume, on a daily basis if necessary. Helical tomotherapy has been designed to use CT imaging technology to plan, deliver, and verify that the delivery has been carried out as planned. The image-guided processes of helical tomotherapy that enable this goal are described.
Examples of the results of helical tomotherapy processes for image-guided intensity-modulated radiotherapy are presented. These processes include megavoltage CT acquisition, automated segmentation of CT images, dose reconstruction using the CT image set, deformable registration of CT images, and reoptimization.
Image-guided precision conformal radiotherapy can be used as a tool to treat the tumor yet spare critical structures. Helical tomotherapy has been designed from the ground up as an integrated image-guided intensity-modulated radiotherapy system and allows new verification processes based on megavoltage CT images to be implemented.
Tomotherapy, literally “slice therapy”, is intensity-modulated fan-beam rotational therapy. The NOMOS Peacock™ system is a serial (or sequential slice) tomotherapy system [1]. It is installed in more than 50 U.S. centers and has been used in the treatments of thousands of patients. Helical tomotherapy, like helical CT, has the fan beam continuously rotating around the patient as the couch is transporting the patient longitudinally through a ring gantry [2–7]. The Tomotherapy Research Group at the University of Wisconsin is assembling the first helical tomotherapy unit at the UW’s Physical Sciences Laboratory at the Kegonsa Research Campus. Figure 1 is a photograph of the gantry for this unit while under construction.
Purpose:
To develop and disseminate a report aimed primarily at practicing radiation oncology physicians and medical physicists that describes the current state-of-the-art of intensity-modulated radiotherapy (IMRT). Those areas needing further research and development are identified by category and recommendations are given, which should also be of interest to IMRT equipment manufacturers and research funding agencies.
Methods and materials:
The National Cancer Institute formed a Collaborative Working Group of experts in IMRT to develop consensus guidelines and recommendations for implementation of IMRT and for further research through a critical analysis of the published data supplemented by clinical experience. A glossary of the words and phrases currently used in IMRT is given in the. Recommendations for new terminology are given where clarification is needed.
Results:
IMRT, an advanced form of external beam irradiation, is a type of three-dimensional conformal radiotherapy (3D-CRT). It represents one of the most important technical advances in RT since the advent of the medical linear accelerator. 3D-CRT/IMRT is not just an add-on to the current radiation oncology process; it represents a radical change in practice, particularly for the radiation oncologist. For example, 3D-CRT/IMRT requires the use of 3D treatment planning capabilities, such as defining target volumes and organs at risk in three dimensions by drawing contours on cross-sectional images (i.e., CT, MRI) on a slice-by-slice basis as opposed to drawing beam portals on a simulator radiograph. In addition, IMRT requires that the physician clearly and quantitatively define the treatment objectives. Currently, most IMRT approaches will increase the time and effort required by physicians, medical physicists, dosimetrists, and radiation therapists, because IMRT planning and delivery systems are not yet robust enough to provide totally automated solutions for all disease sites. Considerable research is needed to model the clinical outcomes to allow truly automated solutions. Current IMRT delivery systems are essentially first-generation systems, and no single method stands out as the ultimate technique. The instrumentation and methods used for IMRT quality assurance procedures and testing are not yet well established. In addition, many fundamental questions regarding IMRT are still unanswered. For example, the radiobiologic consequences of altered time-dose fractionation are not completely understood. Also, because there may be a much greater ability to trade off dose heterogeneity in the target vs. avoidance of normal critical structures with IMRT compared with traditional RT techniques, conventional radiation oncology planning principles are challenged. All in all, this new process of planning and treatment delivery has significant potential for improving the therapeutic ratio and reducing toxicity. Also, although inefficient currently, it is expected that IMRT, when fully developed, will improve the overall efficiency with which external beam RT can be planned and delivered, and thus will potentially lower costs.
Conclusion:
Recommendations in the areas pertinent to IMRT, including dose-calculation algorithms, acceptance testing, commissioning and quality assurance, facility planning and radiation safety, and target volume and dose specification, are presented. Several of the areas in which future research and development are needed are also indicated. These broad recommendations are intended to be both technical and advisory in nature, but the ultimate responsibility for clinical decisions pertaining to the implementation and use of IMRT rests with the radiation oncologist and radiation oncology physicist. This is an evolving field, and modifications of these recommendations are expected as new technology and data become available.
The inversion problem for γ-ray (≥1MeV) conformal radiotherapy is analyzed using the mathematics of tomographic reconstruction. It is shown that the delivered dose can be approximated by the dual attenuated x-ray transform of the filtered beam profile function. The number of intensity-modulated beams required for dose conformation to a tumor is derived. The sampling requirement is at most (2πr
max
W
max
+ 5/2) beams for a 2D tomotherapy geometry, where r
max
and W
max
are the maximum spatial extent and frequency, respectively, of the radiation dose. We generalize this ‘Bow Tie’ solution to 3D, suggesting a sufficient beam number given by (Δω/2πW
max
)(2πr
max
W
max
+5/2)2, where Δω is the frequency resolution of the beam front modulation. The matrix inversion implicit in this bound suggests a criterion for beam orientation selection. Beam angles should be chosen such that the SVD inversion to beam profiles is non-singular for the entire configuration of beams. The natural Hilbert space metric among beam profiles provides another criterion for choosing beam angles. The total squared intensity at each beam angle (in the ρ - metric) is used as a ranking of beam orientations to maximize the overlap between the sampled and continuous beam profile functions. The measure is displayed relative to 3D tissue space contours to define an optimum subset of beams. The formalism is applied to real brain and prostate tumor data consisting of radiologist-generated tumor and organ-at-risk contours, prescribed dose and dose limits, and CT images.
Tumors in the chest and abdomen move during respiration. The ability of conven-tional radiation therapy systems to compensate for respiratory motion by moving the radiation source is inherently limited. Since safety margins currently used in radiation therapy increase the radiation dose by a very large amount, an accurate tracking method for following the motion of the tumor is of the utmost clinical relevance. We investigate methods to compensate for respiratory motion using robotic radiosurgery. Thus, the therapeutic beam is moved by a robotic arm, and follows the moving target tumor. To determine the precise position of the moving target, we combine infrared tracking with synchronized X-ray imaging. Infrared emitters are used to record the motion of the patient's skin surface. A stereo X-ray imaging system provides information about the location of internal markers. During an initialization phase (prior to treatment), the correlation between the motions observed by the two sensors (X-ray imaging and infrared tracking) is computed. This model is also continuously updated during treatment to compensate for other, non-respiratory motion. Experiments and clinical trials suggest that robot-based methods can substantially reduce the safety margins currently needed in radiation therapy. Comp Aid Surg 5:263–277 (2000). ©2000 Wiley-Liss, Inc.
‘Conformal radiotherapy’ is the name fixed by usage and given to a new form of radiotherapy resulting from the technological improvements observed during the last ten years. While this terminology is now widely used, no precise definition can be found in the literature. Conformal radiotherapy refers to an approach in which the dose distribution is more closely ‘conformed’ or adapted to the actual shape of the target volume. However, the achievement of a consensus on a more specific definition is hampered by various difficulties, namely in characterizing the degree of ‘conformality’. We have therefore suggested a classification scheme be established on the basis of the tools and the procedures actually used for all steps of the process, i.e., from prescription to treatment completion. Our classification consists of four levels: schematically, at level 0, there is no conformation (rectangular fields); at level 1, a simple conformation takes place, on the basis of conventional 2D imaging; at level 2, a 3D reconstruction of the structures is used for a more accurate conformation; and level 3 includes research and advanced dynamic techniques. We have used our personal experience, contacts with colleagues and data from the literature to analyze all the steps of the planning process, and to define the tools and procedures relevant to a given level. The corresponding tables have been discussed and approved at the European level within the Dynarad concerted action. It is proposed that the term ‘conformal radiotherapy’ be restricted to procedures where all steps are at least at level 2.
Intensity modulated radiotherapy represents a significant advance in conformal radiotherapy. In particular, it allows the delivery of dose distributions with concave isodose profiles such that radiosensitive normal tissue close to, or even within a concavity of, a tumour may be spared from radiation injury. This article reviews the clinical application of this technique to date, and discusses the practical issues of treatment planning and delivery from the clinician's perspective.
A practical way of delivering optimized radiotherapy dose distributions would be to intensity modulate a photon beam, using collimator leaves intersecting a slit field of radiation. Modulation is achieved by varying the time that the leaves are blocking the field. A practical geometry to deliver such a beam is a computed tomography-like gantry configuration, which also lends itself to tomographic setup verification and the potential for unprecedented accuracy in the verification of dose delivered to the patient. Such a delivery method is referred to as 'tomotherapy'. Several types of tomotherapy simulations were conducted. A fully 3-D optimized treatment planning system using iterative filtered back-projection were developed. Examples of conformal plans for breast and prostate radiotherapy are presented.
Over the last decade a large number of new treatment techniques have been developed to allow a true optimization of the delivered dose distribution in radiation therapy. The most important clinical requirement of most optimization techniques is to be able to deliver strongly nonuniform beams on the patient from arbitrary directions. For very complex tumors the number of beams required to eradicate the tumor without severe injury to normal tissues is quite high, to accurately make the three dimensional dose distribution conform to the target volume. For more simple target geometries fewer beams are sufficient, and in many cases with small tumors the classical uniform rectangular beams will do nicely. A number of new treatment techniques, from narrow beam robot mounted linear accelerators through fan beam devices using linear multileaf collimation in rotary gantries, to the most flexible external beam devices with scanned electron and photon beams and/or dynamic multileaf collimation available over the whole treatment field, are now rapidly coming into clinical use.
The Peacock Three-Dimensional Conformal System is a new approach to the delivery, in general clinic, of intensity modulated radiation therapy. Through the use of a multileaf intensity modulating collimator, the system plans for and implements conformal treatment plans in a slice-by-slice fashion. It is a rotational approach where field shape and spatial intensity of the beam across the field are continuously varied throughout the rotation. The parameters driving beam modulation and field shaping are generated by a 3-D planning computer using a simulated annealing algorithm guided by cost functions which quantify prescribed treatment constraints.
The implementation of newer radiotherapeutic technologies is by definition an ever moving target. By the time this chapter
is published, it is likely that at least some of the problems and issues discussed will cease to be problems, while others
will cease to be of interest. To protect the timeliness of this chapter, a major emphasis has been placed on the principles
that underlie the clinical challenges for the implementation of this newer technology. Because the literature is vague and
lacking in this area, we will focus primarily on newer technology that has been implemented at the University of California
San Francisco (UCSF) within the past few years.
This article reviews suggested recommendations and procedures for quality assurance and safety tests of computer-controlled medical accelerators and the associated high-tech ancillary devices such as asymmetric collimators, dynamic wedge, multileaf collimators, and on-line electronic portal imaging devices for treatment verification, and technologies such as dynamic therapy and beam intensity modulation that are just coming on line. These new technologies are likely to lead to improved therapeutic ratios through the use of conformal physical dose distributions that cannot be achieved using traditional planning, delivery, and verification methods and, at the same time, provide more complete and through safety systems. However, these devices are not yet fully developed and thus come with some limitations and an increased potential for patient treatment error. To insure optimum use, a rigorous quality assurance program specifically designed for these technologies must be in place and the radiation oncology team should be constantly vigilant. In addition, provision should be made to provide for increased continuing staff education in the use of these technologies and complementary safety and quality assurance devices such as a record and verify system should be considered essential.
We describe the conceptual structure and process of a fully integrated three-dimensional (3-D) computed tomography (CT) simulator and present a preliminary clinical and financial evaluation of our current system.
This is a preliminary report on 117 patients treated with external beam radiation therapy alone on whom a 3-D simulation and treatment plan and delivery were carried out from July 1, 1992, through June 30, 1993. The elements of a fully integrated 3-D CT simulator were identified: (a) volumetric definition of tumor volume and patient anatomy obtained with a CT scanner, (b) virtual simulation for beam setup and digitally reconstructed radiographs, (c) 3-D treatment planning for volumetric dose computation and plan evaluation, (d) patient-marking device to outline portal on patient's skin, and (e) verification (physical) simulation to verify portal placement on the patient. Actual time-motion (time and effort) recording was made by each professional involved in the various steps of the 3-D simulation and treatment planning on computer-compatible forms. Data were correlated with the anatomic site of the primary tumor being planned. Cost accounting of revenues and operation of the CT simulator and the 3-D planning was carried out, and projected costs per examination, depending on case load, were generated.
Average time for CT volumetric simulation was 74 min without or 84 min with contrast material. Average times were 36 min for contouring of tumor/target volume and 44 min for normal anatomy, 78 min for treatment planning, 53 min for plan evaluation/optimization, and 58 min for verification simulation. There were significant variations in time and effort according to the specific anatomic location of the tumor. Portal marking of patient on the CT simulator was not consistently satisfactory, and this procedure was usually carried out on the physical simulator. Based on actual budgetary information, the cost of a volumetric CT simulation (separate from the 3-D treatment planning) showed that 1500 examinations per year (six per day in 250 working days) must be performed to make the operation of the device cost effective. The same financial projections for the entire 3-D planning process and verification yielded five plans per day. Some features were identified that will improve the use of the 3-D simulator, and solutions are offered to incorporate them in existing devices.
Commercially available CT simulators lack some elements that we believe are critical in a fully integrated 3-D CT simulator. Sophisticated 3-D simulation and treatment planning can be carried out in a significant number of patients at a reasonable cost. Time and effort and therefore cost vary according to the anatomic site of the tumor being planned and the number of procedures performed. Further efforts are necessary, with collaboration of radiation oncologists, physicists, and manufacturers, to develop more versatile and efficient 3-D CT simulators, and additional clinical experience is required to make this technology cost effective in standard radiation therapy of patients with cancer.
A method for modulating beam fluence from a linear accelerator is discussed. The beam modulation is accomplished remotely using a multileaf collimator and does not require entering the treatment room.
The multileaf collimator is used to define a series of field shapes that are superimposed at a fixed gantry angle to produce any desired fluence pattern. A heuristic technique for deriving the field shapes and corresponding monitor unit settings is described. The technique has been tested on randomly generated fluence distributions and on distributions with a limited number of peaks and valleys. The second type of distribution more closely simulates fluence patterns obtained with dose optimization software. Estimates of the time required to use this approach to treat a four-field plan are given and compared to the technique of placing a physical compensator in each beam.
It has been demonstrated that complex fluence patterns within a 15 x 15 cm2 field can be achieved with less than 20 fields. Estimates show that this technique is faster than entering the treatment room to change physical compensators. Some limitations of the method are discussed.
Optimized distributions that conform the dose to irregularly shaped target volumes that wrap around critical structures are possible using superimposed multileaf fields. A method for defining the field shapes is presented.
Preliminary clinical results are presented for 209 patients with cancer who had treatment planned on our three-dimensional radiation treatment planning (3-D RTP) system and were treated with external beam conformal radiation therapy. Average times (min) for CT volumetric simulation were: 74 without or 84 with contrast material; 36 for contouring of tumor/target volume and 44 for normal anatomy; 78 for treatment planning; 53 for plan evaluation/optimization; and 58 for verification simulation. Average time of daily treatment sessions with 3-D conformal therapy or standard techniques was comparable for brain, head and neck, thoracic, and hepatobiliary tumors (11.8-14 min and 11.5-12.1, respectively). For prostate cancer patients treated with 3-D conformal technique and Cerrobend blocks, mean treatment time was 19 min; with multileaf collimation it was 14 min and with bilateral arc rotation, 9.8 min. Acute toxicity was comparable to or lower than with standard techniques. Sophisticated 3-D RTP and conformal irradiation can be performed in a significant number of patients at a reasonable cost. Further efforts, including dose-escalation studies, are necessary to develop more versatile and efficient 3-D RTP systems and to enhance the cost benefit of this technology in treatment of patients with cancer.
To compare the stereotactic radiosurgery treatment plans generated by a conventional radiosurgery treatment system with the plan generated by a system using intensity modulated beams.
Optimized conformal radiation treatment plans were generated for both single and multiple intracranial lesions using a conventional radiosurgery treatment-planning system computer and the Peacock treatment-planning computer. The Peacock system is a conformal therapy system that uses intensity modulated beams, back projection, and the simulated annealing optimization technique. The dose delivered to critical structures and the target volume were compared by means of dose volume histograms between plans generated by the two different systems. The Radiation Therapy Oncology Group (RTOG) stereotactic radiosurgery criteria were also used to evaluate each plan.
(a) For a single small target, radiosurgery plans generated by the conventional radiosurgery system and the Peacock system were comparable. (b) For two separate small targets, where nonoverlapping arcs could be used, plans generated by the two systems were also comparable. (c) For a single large (>4 cm) irregular-shaped target, the Peacock system appeared to be able to generate a treatment plan superior to that of the conventional radiosurgery system.
A treatment plan generated using intensity modulated beams appears to be superior to a multiple isocenter plan using a conventional radiosurgery system, for the treatment of a large irregular shaped intracranial target.
Highly conformal dose distributions can be created by the superposition of many radiation fields from different directions, each with its intensity spatially modulated by the method known as tomotherapy. At the planning stage, the intensity of radiation of each beam element (or bixel) is determined by working out the effect of superposing the radiation through all bixels with the elemental dose distribution specified as that from a single bixel with all its neighbours closed (the `independent-vane' (IV) model). However, at treatment-delivery stage, neighbouring bixels may not be closed. Instead the slit beam is delivered with parts of the beam closed for different periods of time to create the intensity modulation. As a result, the 3D dose distribution actually delivered will differ from that determined at the planning stage if the elemental beams do not obey the superposition principle.
The purpose of this paper is to present a method to investigate and quantify the relation between planned and delivered 3D dose distributions. Two modes of inverse planning have been performed: (i) with a fit to the measured elemental dose distribution and (ii) with a `stretched fit' obeying the superposition principle as in the PEACOCK 3D planning system. The actual delivery has been modelled as a series of component deliveries (CDs). The algorithm for determining the component intensities and the appropriate collimation conditions is specified.
The elemental beam from the NOMOS MIMiC collimator is too narrow to obey the superposition principle although it can be `stretched' and fitted to a superposition function. Hence there are differences between the IV plans made using modes (i) and (ii) and the raw and the stretched elemental beam, and also differences with CD delivery. This study shows that the differences between IV and CD dose distributions are smaller for mode (ii) inverse planning than for mode (i), somewhat justifying the way planning is done within PEACOCK. Using a stretched elemental beam is a useful adjustment to improve the accuracy of inverse planning but the 3D dose distribution actually delivered will display characteristics of the collimation.
To illustrate some of the radiation treatment techniques with asymmetric collimators in one field dimension.
Treatment planning for various sites is done with an in-house developed treatment planning system. Dose distributions in the central plane are illustrated.
The use of asymmetric collimation, in addition to being a replacement for cerrobend and lead blocks, can facilitate treatment setup with boost fields and with half-beam asymmetric fields as in matching two adjacent fields, in avoiding nearby critical organ or tissue, and in tangential breast treatment. The use of asymmetric collimators would alter the dose distribution across the radiation field and should be accounted for during treatment planning. In conjunction with arc rotation or multiple asymmetric fields, two-dimensional conformal radiotherapy is possible.
The full potential of asymmetric collimation requires the use of a proper treatment planning algorithm. Some of the treatment techniques with asymmetric collimation in one field dimension are shown here.
Background and purpose:
In this study the possibilities for implementing 1D tissue-deficit compensation techniques by a dynamic single absorber were investigated. This research firstly involved a preliminary examination on the accuracy of a pencil beam-based algorithm, implemented for irregularly shaped photon beams in our 3D treatment planning system (TPS) (Cadplan 2.7, Varian-Dosetek Oy), in calculating dose distributions delivered in ID non-uniform fields. Once the reliability of the pencil beam (PB) algorithm for dose calculations in non-uniform beams was verified, we proceeded to test the feasibility of tissue-deficit compensation using our single absorber modulator. As an example, we considered a mantle field technique.
Materials and methods:
To evaluate the accuracy of the method employed in calculating dose distributions delivered in 1D non-uniform fields, three different fluence profiles, which could be considered as a small sample representative of clinically relevant applications, were selected. The incident non-uniform fluences were simulated by the sum of simple blocked fields (i.e. with rectangular 'strip' blocks, one per beam) properly weighed by the 'modulation factors' Fi, defined in each interval of the subdivided profile as the ratio between the desired fluence and the open field fluence. Depth dose distributions in a cubic phantom were then calculated by the TPS and compared with the corresponding doses (at 5 and 10 cm acrylic depths) delivered by the single absorber modulation system. In the present application, the absorber speed profile able to compensate for the tissue deficit along the cranio-caudal direction and then homogenizing the dose distribution on a 'midline' isocentric plane with sufficient accuracy can be directly derived from anatomic data, such as the SSDs (source-skin distances) along the patient contour. The compensation can be verified through portal dosimetry techniques (using a traditional port film system).
Results:
The technique was tested in isocentric conditions on the humanoid RANDO phantom in a clinically suitable situation. The agreement between expected/calculated and measured incident/exit dose profiles was found to be within 4%, with deviations generally around 1-2%. As for the PB accuracy investigation for dose calculations in non-uniform fields, calculated versus measured dose profiles were found to be in good agreement, indicating a satisfactory accuracy of the method employed for dose calculation in 1D non-uniform photon beams. A better performance should be expected if the incident fluences could be directly inserted in the TPS.
Conclusions:
The results show that the proposed technique should be sufficiently reliable for clinical application. The main advantages are its simplicity and the possibility of application on Linacs which have no complex options for dynamic control of collimators.
The dose-calculation algorithm for a commercial arc-based intensity modulated radiation therapy (IMRT) treatment-planning and delivery system (Peacock, NOMOS Corporation) is described.
The IMRT delivery system uses a dynamically controlled multileaf collimator with 40 leaves that project on our accelerator to either 1.0 x 0.84 cm2 or 1.0 x 1.68 cm2 at isocenter arranged in two banks of 20 leaves each. The dose-calculation algorithm uses tissue-phantom ratios derived from percent depth dose measurements, measured relative output data, and single leaf profiles. Some compromises are made in the algorithm terms to enable more straightforward dosimetry measurements and to reduce dose computation times. The dose calculation algorithm is presented, and consequences of the approximations are investigated using previously published 4 MV photon beam data.
Most of the approximations lead to dose errors of a few percent. However, the use of depth-invariant single-leaf profiles results in errors as large as 9% for 4 MV fixed beams.
Large dosimetric errors are possible for small fixed fields using this algorithm. However, the algorithm is designed for tomotherapy dose delivery, where doses are delivered from multiple directions and depths. Investigations of the algorithm in more clinically relevant conditions have been conducted and show that the algorithm accuracy is 1.3% and therefore is clinically acceptable for tomotherapy.
A commercial three-dimensional (3D) inverse treatment planning system, Corvus (Nomos Corporation, Sewickley, PA), was recently made available. This paper reports our preliminary results and experience with commissioning this system for clinical implementation. This system uses a simulated annealing inverse planning algorithm to calculate intensity-modulated fields. The intensity-modulated fields are divided into beam profiles that can be delivered by means of a sequence of leaf settings by a multileaf collimator (MLC). The treatments are delivered using a computer-controlled MLC. To test the dose calculation algorithm used by the Corvus software, the dose distributions for single rectangularly shaped fields were compared with water phantom scan data. The dose distributions predicted to be delivered by multiple fields were measured using an ion chamber that could be positioned in a rotatable cylindrical water phantom. Integrated charge collected by the ion chamber was used to check the absolute dose of single- and multifield intensity modulated treatments at various spatial points. The measured and predicted doses were found to agree to within 4% at all measurement points. Another set of measurements used a cubic polystyrene phantom with radiographic film to record the radiation dose distribution. The films were calibrated and scanned to yield two-dimensional isodose distributions. Finally, a beam imaging system (BIS) was used to measure the intensity-modulated x-ray beam patterns in the beam's-eye view. The BIS-measured images were then compared with a theoretical calculation based on the MLC leaf sequence files to verify that the treatment would be executed accurately and without machine faults. Excellent correlation (correlation coefficients > or = 0.96) was found for all cases. Treatment plans generated using intensity-modulated beams appear to be suitable for treatment of irregularly shaped tumours adjacent to critical structures. The results indicated that the system has potential for clinical radiation treatment planning and delivery and may in the future reduce treatment complexity.
This paper will present the results of an investigation into three iterative approaches to inverse treatment planning. These techniques have been examined in the hope of developing an optimization algorithm suitable for the large-scale problems that are encountered in tomotherapy. The three iterative techniques are referred to as the ratio method, iterative least-squares minimization and the maximum-likelihood estimator. Our results indicate that each of these techniques can serve as a useful tool in tomotherapy optimization. As compared with other mathematical programming techniques, the iterative approaches can reduce both memory demands and time requirements. In this paper, the results from small- and large-scale optimizations will be analysed. It will also be demonstrated that the flexibility of the iterative techniques can be greatly enhanced through the use of dose-volume histogram based penalty functions and/or through the use of weighting factors assigned to each region of the patient. Finally, results will be presented from an investigation into the stability of the iterative techniques.
Intensity modulated radiotherapy represents a significant advance in conformal radiotherapy. In particular, it allows the delivery of dose distributions with concave isodose profiles such that radiosensitive normal tissue close to, or even within a concavity of, a tumour may be spared from radiation injury. This article reviews the clinical application of this technique to date, and discusses the practical issues of treatment planning and delivery from the clinician's perspective.
Tumors in the chest and abdomen move during respiration. The ability of conventional radiation therapy systems to compensate for respiratory motion by moving the radiation source is inherently limited. Since safety margins currently used in radiation therapy increase the radiation dose by a very large amount, an accurate tracking method for following the motion of the tumor is of the utmost clinical relevance. We investigate methods to compensate for respiratory motion using robotic radiosurgery. Thus, the therapeutic beam is moved by a robotic arm, and follows the moving target tumor. To determine the precise position of the moving target, we combine infrared tracking with synchronized X-ray imaging. Infrared emitters are used to record the motion of the patient's skin surface. A stereo X-ray imaging system provides information about the location of internal markers. During an initialization phase (prior to treatment), the correlation between the motions observed by the two sensors (X-ray imaging and infrared tracking) is computed. This model is also continuously updated during treatment to compensate for other, non-respiratory motion. Experiments and clinical trials suggest that robot-based methods can substantially reduce the safety margins currently needed in radiation therapy.
New, complex radiotherapy delivery techniques require dosimeters that are able to measure complex three-dimensional dose distributions accurately and with good spatial resolution. Polymer gel is an emerging new dosimeter being applied to these challenges. The aim of this review is to present a practical overview of polymer gel dosimetry, including gel manufacture, imaging, calibration and application to radiotherapy verification. The dosimeters consist of a gel matrix within which is suspended a solution of acrylic molecules. These molecules polymerize upon exposure to radiation, with the degree of polymerization being proportional to absorbed dose. The polymer distribution can be measured in two or three dimensions using MRI or optical tomography and, after calibration, the images can be converted into radiation dose distributions. Manufacture of the gel is reported to be reproducible, and measured dose in the range 0-10 Gy is accurate to within 3-5%. In-plane image resolution of 1 mm x 1 mm, with image slice thicknesses of between 2-5 mm, is typically achievable using clinical 1.5 T MR scanners and standard T2 weighted imaging sequences. The gels have been used to verify a number of conventional and novel radiotherapy modalities, including brachytherapy, intensity modulated radiotherapy and stereotactic radiosurgery. All the studies have confirmed the value and versatility of the dosimetry technique.
Currently, inverse treatment planning in conformal radiotherapy is, in part, a trial-and-error process due to the interplay of many competing criteria for obtaining a clinically acceptable dose distribution. A new method is developed for beam weight optimization that incorporates clinically relevant nonlinear and linear constraints. The process is driven by a nonlinear, quasi-quadratic objective function and the solution space is defined by a set of linear constraints. At each step of iteration, the optimization problem is linearized by a self-consistent approximation that is local to the existing dose distribution. The dose distribution is then improved by solving a series of constrained least-squares problems using an established method until all prescribed constraints are satisfied. This differs from the current approaches in that it does not rely on the search for the global minimum of a specific objective function. Essentially, our proposed objective function can be construed as a functional that comprises a class of dose-based quadratic objective functions. Empirical adjustment for appropriate model parameters in the construction of objective function is minimized, since these parameters are in effect adaptively adjusted during optimization. The method is robust in solving difficult clinical cases using either aperture or pencil beam based planning techniques for intensity-modulated radiation therapy.
Intensity-modulated radiation therapy (IMRT) requires the use of inverse treatment planning and nonuniform fluence beams delivered by a series of complex radiation portals. The quality assurance procedures for conventional three-dimensional conformal radiation therapy (3D-CRT) have been developed and are in worldwide clinical use, but the more complex nature of IMRT limits the application of much of the quality assurance (QA) procedures developed for IMRT. Although consensus has not yet been reached regarding which procedures will eventually become recommended by official organizations, the field is rapidly coming to agreement on a basic set of procedures. This manuscript describes some of the novel techniques recently developed for IMRT QA, both for the validation of the calculated dose distribution and for assuring that the dose distribution reaches its intended targets.
Intensity modulated beam systems have been developed as a means of creating a high-dose region that closely conforms to the prescribed target volume while also providing specific sparing of organs at risk within complex treatment geometries. The slice-by-slice treatment paradigm used by one such system for delivering intensity modulated fields introduces regions of dose nonuniformity where each pair of treatment slices abut. A study was designed to evaluate whether or not the magnitude of the nonuniformity that results from this segmental delivery paradigm is significant relative to the overall dose nonuniformity present in the intensity modulation technique itself. An assessment was also made as to the increase in nonuniformity that would result if errors were made in indexing during treatment delivery.
Treatment plans were generated to simulate correctly indexed and incorrectly indexed treatments of 4, 10, and 18 cm diameter targets. Indexing errors of from 0.1 to 2.0 mm were studied. Treatment plans were also generated for targets of the same diameter but of lengths that did not require indexing of the treatment couch.
The nonuniformity that results from the intensity modulation delivery paradigm is 11-16% for targets where indexing is not required. Correct indexing of the couch adds an additional 1-2% in nonuniformity. However, a couch indexing error of as little as 1 mm can increase the total nonuniformity to as much as 25%. All increases in nonuniformity from indexing are essentially independent of target diameter.
The dose nonuniformity introduced by the segmental strip delivery paradigm is small relative to the nonuniformity present in the intensity modulation paradigm itself. A positioning accuracy of better than 0.5 mm appears to be required when implementing segmental intensity modulated treatment plans.
A large number of IMRT systems are currently being marketed. Many of these systems appear to be unique, and manufacturers often emphasize design differences as they argue the merits of their particular approach. This paper focuses on highlighting the underlying feature that is intrinsically part of all IMRT systems. On the other hand, major differences often appear at the implementation stage for dose delivery. Such variations are evident because each manufacturer has a unique approach to balancing the issues of treatment time, leakage radiation reaching the patient's total body, aperture approximation of the ideal intensity maps, increasing the angles of approach for the treatment fields, integration of on-line imaging, selection of treatment distance, availability of different photon energies, and overall system complexity (i.e., cost). How these different issues are handled in the process of system design affects the relative advantages and disadvantages that appear in the final product. This paper takes the approach of dividing the various IMRT methods into categories that are divided roughly along the lines of the technique used during dose delivery to approximate the intensity patterns. Other features of each system are included under these sub-sections.
Radiosurgery is a treatment for brain tumours and other lesions
which employs a moving beam of photon radiation. In robotic
radiosurgery, the radiation source is moved by a six degree-of-freedom
robotic arm. A treatment planning system for robotic radiosurgery was
developed. This planning system combines collision avoidance techniques
and geometric algorithms for finding appropriate robot paths and beam
activation profiles. The following design goals characterize our
application: 1) ability to generate conformal 3D dose distributions; 2)
transparency of the planning process; and 3) full use of the motion
flexibility provided by the robotic arm. The new planning system is in
clinical use in several leading medical institutions. Results obtained
from the studies suggest that highly conformal distributions can be
generated in a very effective way
Tumors in the chest and the abdomen move during respiration. The ability of conventional radiation therapy systems to compensate for respiratory motion by moving the radiation source is inherently limited. Since safety margins currently used in radiation therapy increase the radiation dose by a very large amount, an accurate tracking method for following the motion of the tumor is of utmost clinical relevance. We investigate methods to compensate for respiratory motion using robotic radiosurgery. Thus, the therapeutic beam is moved by a robotic arm, and follows the moving target tumor. To determine the precise position of the moving target we combine infrared tracking with synchronized X-ray imaging. Infrared emitters are used to record the motion of the patient's skin surface. A stereo X-ray imaging system provides information about the location of internal markers. During an initialization phase (prior to treatment), the correlation between the motions observed by the two sensors (X-ray imaging and infrared tracking) is computed. This model is also continuously updated during treatment to compensate for other, non-respiratory motion. Experiments and clinical trials suggest that robot-based methods can substantially reduce the safety margins currently needed in radiation therapy.
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