Assessment and evaluation of MV image guidance system performance in radiotherapy

Background and aim

The clinical use of imaging system in image guided radiotherapy (IGRT) necessitates performing periodic quality assurance of the system to be confident in applying corrections for patient set-up errors. We aim to develop and implement a quality assurance (QA) programme for megavoltage (MV) based image guidance system and assess its long term performance for a period of 3 years.

Materials and methods

Periodic QA tests were performed for the MV planar and cone beam computed tomography (CBCT) imaging system to assess the system safety, mechanical and geometrical accuracy, image quality and dose. The tests were performed using the equipment supplied by the manufacturer along with the image guidance system and using simple methods developed in-house. The test results were compared with expected or baseline values established during commissioning.

Results

The safety system was found to be functional. The results of mechanical and geometrical tests were in good agreement with the expected results. The system mechanical positioning was stable and reproducible within ±2 mm accuracy. The image quality and the imaging dose of the planar and CBCT imaging were found to agree with the baseline values and the manufacturer specifications.

Discussion

Throughout the three-year period, all the QA tests were within the specification. The mechanical and geometrical tests are most crucial as they directly affect the patient positioning accuracy.

Conclusion

We conclude that the MV image guidance system is efficient to perform IGRT and insist to perform periodic QA tests and calibration for the system.     

Detection of setup uncertainties with 3D surface registration system for conformal radiotherapy of breast cancer

Aim

To investigate the clinical application of a technique for patient set-up verification in breast cancer radiotherapy based on a 3D surface image registration system.

Background

Accurate and reproducible patient set-up is a prerequisite to correctly deliver fractionated radiotherapy. Various approaches are available to verify and correct patient setup for 3D image acquisition in a radiation treatment room.

Materials and methods

The study analyzed the setup reproducibility of 15 patients affected by breast cancer and candidates for conformal radiotherapy by using the AlignRT system (VisionRT, London, UK). At the initial setup, electronic portal imaging device (EPID) images were compared with Digitally Reconstructed Radiographs (DRRs) and a reference three-dimensional (3D) surface image was obtained by AlignRT. Surface images were acquired prior to every subsequent setup procedure. The systematic and random errors along longitudinal and vertical directions were measured and compared for the two systems.

Results

The procedure for surface registration, image acquisition and comparison with the reference image took less than 1 min on average. The T test for systematic error showed no significant difference between the 2 verification systems along the longitudinal (p = 0.69) and vertical (p = 0.67) axes. The T-test for random error showed a significant difference between the 2 systems along the vertical axis (p = 0.05).

Conclusion

AlignRT is fast, simple, non-invasive and seems to be reliable in detecting patient setup errors. Our results suggest that it could be used to assess the setup reproducibility for breast cancer patients.     

Setup uncertainties in linear accelerator based stereotactic radiosurgery and a derivation of the corresponding setup margin for treatment planning

PurposeIn the present study, clinical stereotactic radiosurgery (SRS) setup uncertainties from image-guidance data are analyzed, and the corresponding setup margin is estimated for treatment planning purposes.MethodsPatients undergoing single-fraction SRS at our institution were localized using invasive head ring or non-invasive thermoplastic masks. Setup discrepancies were obtained from an in-room x-ray patient position monitoring system. Post treatment re-planning using the measured setup errors was performed in order to estimate the individual target margins sufficient to compensate for the actual setup errors. The formula of setup margin for a general SRS patient population was derived by proposing a correlation between the three-dimensional setup error and the required minimal margin.ResultsSetup errors of 104 brain lesions were analyzed, in which 81 lesions were treated using an invasive head ring, and 23 were treated using non-invasive masks. In the mask cases with image guidance, the translational setup uncertainties achieved the same level as those in the head ring cases. Re-planning results showed that the margins for individual patients could be smaller than the clinical three-dimensional setup errors. The derivation of setup margin adequate to address the patient setup errors was demonstrated by using the arbitrary planning goal of treating 95% of the lesions with sufficient doses.ConclusionsWith image guidance, the patient setup accuracy of mask cases can be comparable to that of invasive head rings. The SRS setup margin can be derived for a patient population with the proposed margin formula to compensate for the institution-specific setup errors.     

Dosimetric and localization accuracy of Elekta high definition dynamic radiosurgery

Background and PurposeWith the increasingly prominent role of stereotactic radiosurgery in radiation therapy, there is a clinical need for robust, efficient, and accurate solutions for targeting multiple sites with one patient setup. The end-to-end accuracy of high definition dynamic radiosurgery with Elekta treatment planning and delivery systems was investigated in this study.Materials and MethodsA patient-derived CT scan was used to create a radiosurgery plan to seven targets in the brain. Monaco was used for treatment planning using 5 VMAT non-coplanar arcs. Prior to delivery, 3D-printed phantoms from RTsafe were ordered including a gel phantom for 3D dosimetry, phantom with 2D film insert, and an ion chamber phantom for point dose measurement. Delivery was performed using the Elekta VersaHD, XVI cone-beam CT, and HexaPOD six degree of freedom tabletop.ResultsAbsolute dose accuracy was verified within 2%. 3D global gamma analysis in the film measurement revealed 3%/2 mm passing rates >95%. Gel dosimetry 3D global gamma analysis (3%/2 mm) were above 90% for all targets with the exception of one. Results were indicative of typical end-to-end accuracies (<1 mm spatial uncertainty, 2% dose accuracy) within 4 cm of isocenter. Beyond 4 cm, 2 mm accuracy was found.ConclusionsHigh definition dynamic radiosurgery expands clinically acceptable stereotactic accuracy to a sphere around isocenter allowing for radiosurgery of several targets with one setup with a high degree of dosimetric precision. Gel dosimetry proved to be an essential tool for the validation of the 3D dose distributions in this technique.     

Comparison of three differently shaped ROIs in free breathing breast radiotherapy setup using surface guidance with AlignRT®

BackgroundSetup accuracy within adjuvant radiotherapy of breast cancer treated in free breathing is well studied, but a comparison of the typical regions of interest (ROI) used in surface guided radiation therapy (SGRT) does not exist. The aim of this study was to estimate the setup accuracy obtained with differently shaped ROIs in SGRT.Materials and methodsA total of 573 orthogonal image pairs were analyzed from free breathing breast patients in two groups: positioning using AlignRT^® surface guidance system (Group A, n = 20), and setup using conventional laser and tattoo setup (Group L, n = 20). For SGRT, three different setup ROIs were used: a Breast-shaped, O-shaped and T-shaped (B-O and T-ROI). We evaluated the isocenter-, rotation-, pitch and arm position accuracy and residual errors for the chest wall and shoulder joint in kV orthogonal and tangential setup images with laser- or SGRT-based setup.ResultsLess isocenter variance was found in Group A than in Group L. Rotations and posture errors were larger in group L than in Group A (p ≤ 0.05). Rotation error was smaller with T-shaped ROI than with O- or B-shape (p = 0.01–0.04).ConclusionSetup with AlignRT^® improves reproducibility compared to laser setup. Between the different ROI shapes only small differences were found in the patient posture or the isocenter position in the images. The T-ROI is recommended to set up the chest wall bony structure and an additional B-ROI may be used to fine-tune the soft tissue accuracy.     

Quantifying the performance of two different types of commercial software programs for 3D patient dose reconstruction for prostate cancer patients: Machine log files vs. machine log files with EPID images

We clarified the reconstructed 3D dose difference between two different commercial software programs (Mobius3D v2.0 and PerFRACTION v1.6.4).Five prostate cancer patients treated with IMRT (74 Gy/37 Fr) were studied. Log files and cine EPID images were acquired for each fraction. 3D patient dose was reconstructed using log files (Mobius3D) or log files with EPID imaging (PerFRACTION). The treatment planning dose was re-calculated on homogeneous and heterogeneous phantoms, and log files and cine EPID images were acquired. Measured doses were compared with the reconstructed point doses in the phantom. Next, we compared dosimetric metrics (mean dose for PTV, rectum, and bladder) calculated by Mobius3D and PerFRACTION for all fractions from five patients.Dose difference at isocenter between measurement and reconstructed dose for two software programs was within 3.0% in both homogeneous and heterogeneous phantoms. Moreover, the dose difference was larger using skip arc plan than that using full arc plan, especially for PerFRACTION (e.g., dose difference at isocenter for PerFRACTION: 0.34% for full arc plan vs. −4.50% for skip arc plan in patient 1).For patients, differences in dosimetric parameters were within 1% for almost all fractions. PerFRACTION had wider range of dose difference between first fraction and the other fractions than Mobius3D (e.g., maximum difference: 0.50% for Mobius3D vs. 1.85% for PerFRACTION), possibly because EPID may detect some types of MLC positioning errors such as miscalibration errors or mechanical backlash which cannot be detected by log files, or that EPID data might include image acquisition failure and image noise.     

Improving Intra-Fractional Target Position Accuracy Using a 3D Surface Surrogate for Left Breast Irradiation Using the Respiratory-Gated Deep-Inspiration Breath-Hold Technique

Purpose

To evaluate the use of 3D optical surface imaging as a surrogate for respiratory gated deep-inspiration breath-hold (DIBH) for left breast irradiation.

Material and Methods

Patients with left-sided breast cancer treated with lumpectomy or mastectomy were selected as candidates for DIBH treatment for their external beam radiation therapy. Treatment plans were created on both free breathing (FB) and DIBH computed tomography (CT) simulation scans to determine dosimetric benefits from DIBH. The Real-time Position Management (RPM) system was used to acquire patient''s breathing trace during DIBH CT acquisition and treatment delivery. The reference 3D surface models from FB and DIBH CT scans were generated and transferred to the “AlignRT” system for patient positioning and real-time treatment monitoring. MV Cine images were acquired during treatment for each beam as quality assurance for intra-fractional position verification. The chest wall excursions measured on these images were used to define the actual target position during treatment, and to investigate the accuracy and reproducibility of RPM and AlignRT.

Results

Reduction in heart dose can be achieved using DIBH for left breast/chest wall radiation. RPM was shown to have inferior correlation with the actual target position, as determined by the MV Cine imaging. Therefore, RPM alone may not be an adequate surrogate in defining the breath-hold level. Alternatively, the AlignRT surface imaging demonstrated a superior correlation with the actual target positioning during DIBH. Both the vertical and magnitude real-time deltas (RTDs) reported by AlignRT can be used as the gating parameter, with a recommended threshold of ±3 mm and 5 mm, respectively.

Conclusion

The RPM system alone may not be sufficient for the required level of accuracy in left-sided breast/CW DIBH treatments. The 3D surface imaging can be used to ensure patient setup and monitor inter- and intra- fractional motions. Furthermore, the target position accuracy during DIBH treatment can be improved by AlignRT as a superior surrogate, in addition to the RPM system.     

Validation of frame-based positioning accuracy with cone-beam computed tomography in Gamma Knife Icon radiosurgery

BackgroundFrame based positioning accuracy in Gamma Knife (GK) stereotactic radiosurgery (SRS) is extremely high but removal of a post may be necessary to enable the treatment in selected patients.ObjectiveTo verify the positioning accuracy in clinical scenarios with 4 and 3 posts in patients and phantoms using cone-beam CT (CBCT) of Gamma Knife Icon™.MethodsWe analyzed positioning accuracy for 12 patients with standard 4 post setup using pretreatment CBCT (pre-CBCT) on GK Icon™ and report 4 patients with different clinical scenarios (removal of a post). We performed phantom measurements to verify the frame accuracy via CBCT in different clinical scenarios without the influence of the human patient.ResultsMean frame accuracy for 12 patients with 4 posts was 0.35 mm/0.34 degree. Mean motion during treatment was 0.11 mm/0.04 degree. For two of the clinical scenarios where a post was removed, we found acceptable deviations within 0.66 mm/0.61 degree. For 2 patients, a deviation of 2.94 mm/−3.47 degree and 1.85 mm/−0.74 degree was found and replanning was necessary. Phantom measurements showed good agreement when planning MR/CT was performed with 4 or 3 post. Larger deviations of 0.86 mm/0.88 degree were detected when a post was removed after planning MR/CT.ConclusionThe frame accuracy with 4 posts before and during GK treatments is as high as expected. For clinical situations, where a post is removed after planning-CT/MR, pre-treatment position verification is strongly suggested using stereotactic CBCT or the P-CT/MR should be repeated to avoid possible mistreatments.     

Performance assessment of surface-guided radiation therapy and patient setup in head-and-neck and breast cancer patients based on statistical process control

PurposeTo assess the effectiveness of SGRT in clinical applications through statistical process control (SPC).MethodsTaking the patients’ positioning through optical surface imaging (OSI) as a process, the average level of process execution was defined as the process mean. Setup errors detected by cone-beam computed tomography (CBCT) and OSI were extracted for head-and-neck cancer (HNC) and breast cancer patients. These data were used to construct individual and exponentially weighted moving average (EWMA) control charts to analyze outlier fractions and small process shifts from the process mean. Using the control charts and process capability indices derived from this process, the patient positioning-related OSI performance and setup error were analyzed for each patient.ResultsOutlier fractions and small shifts from the process mean that are indicative of setup errors were found to be widely prevalent, with the outliers randomly distributed between fractions. A systematic error of up to 1.6 mm between the OSI and CBCT results was observed in all directions, indicating a significantly degraded OSI performance. Adjusting this systematic error for each patient using setup errors of the first five fractions could effectively mitigate these effects. Process capability analysis following adjustment for systematic error indicated that OSI performance was acceptable (process capability index C_pk = 1.0) for HNC patients but unacceptable (C_pk < 0.75) for breast cancer patients.ConclusionSPC is a powerful tool for detecting the outlier fractions and process changes. Our application of SPC to patient-specific evaluations validated the suitability of OSI in clinical applications involving patient positioning.     

Error detection during VMAT delivery using EPID-based 3D transit dosimetry

PurposeTo investigate the effectiveness of an EPID-based 3D transit dosimetry system in detecting deliberately introduced errors during VMAT delivery.MethodsAn Alderson phantom was irradiated using four VMAT treatment plans (one prostate, two head-and-neck and one lung case) in which delivery, thickness and setup errors were introduced. EPID measurements were performed to reconstruct 3D dose distributions of “error” plans, which were compared with “no-error” plans using the mean gamma (γ_mean), near-maximum gamma (γ_1%) and the difference in isocenter dose (ΔD_isoc) as metrics.ResultsOut of a total of 42 serious errors, the number of errors detected was 33 (79%), and 27 out of 30 (90%) if setup errors are not included. The system was able to pick up errors of 5 mm movement of a leaf bank, a wrong collimator rotation angle and a wrong photon beam energy. A change in phantom thickness of 1 cm was detected for all cases, while only for the head-and-neck plans a 2 cm horizontal and vertical shift of the phantom were alerted. A single leaf error of 5 mm could be detected for the lung plan only.ConclusionAlthough performed for a limited number of cases and error types, this study shows that EPID-based 3D transit dosimetry is able to detect a number of serious errors in dose delivery, leaf bank position and patient thickness during VMAT delivery. Errors in patient setup and single leaf position can only be detected in specific cases.     

Uncertainty in positioning ion chamber at reference depth for various water phantoms

Background

Uncertainty in the calibration of high-energy radiation sources is dependent on user and equipment type.

Radiotherapy setup displacements in breast cancer patients: 3D surface imaging experience

Aim

In this study, we intend to compare two different setup procedures for female breast cancer patients.

Dosimetric accuracy of dual isocenter irradiation in low magnetic field resonance guided radiotherapy system for extended abdominal tumours

PurposeDue to limited field size of Magnetic Resonance Linear Accelerators (MR-Linac), some treatments could require a dual-isocenter planning approach to achieve a complete target coverage and thus exploit the benefits of the online adaptation. This study evaluates the dosimetric accuracy of the dual-isocenter intensity modulated radiation therapy (IMRT) delivery technique for MR-Linac.Material and MethodsDual-isocenter multi leaf collimator (MLC) and couch accuracy tests have been performed to evaluate the delivery accuracy of the system. A mono-isocenter plan delivered in clinical practice has then been retrospectively re-planned with dual-isocenter technique. The dual-isocenter plan has been re-calculated and delivered on a 3-dimensional (3D) ArcCHECK phantom and 2-dimensional (2D) films to assess its dosimetric accuracy in terms of gamma analysis. Clinical and planning target volume (CTV and PTV respectively) coverage robustness was then investigated after the introduction of ± 2 mm and ± 5 mm positioning errors by shifting the couch.ResultsMLC and couch accuracy tests confirmed the system accuracy in delivering a dual-isocenter irradiation.2D/3D gamma analysis results occurred always to be above 95% if considered a gamma criteria 1%/2 mm and 1%/1 mm respectively for the 2D and 3D analysis.The mean variations for CTV D98% and PTV V95% were 0.2% and 1.1% respectively when positioning error was introduced separately in each direction, while the maximum observed variations were 0.9% (CTV) and 3.7% (PTV).ConclusionThe dosimetric accuracy of dual-isocenter irradiation has been verified for MR-Linac, achieving accurate and robust treatment strategy and improving dose conformality also in presence of targets whose extension exceeds the nominal maximum field size.     

Uncertainty quantification analysis and optimization for proton therapy beam lines

Since many years proton therapy is an effective treatment solution against deep-seated tumors. A precise quantification of sources of uncertainty in each proton therapy aspect (e.g. accelerator, beam lines, patient positioning, treatment planning) is of profound importance to increase the accuracy of the dose delivered to the patient. Together with Monte Carlo techniques, a new research field called Uncertainty Quantification (UQ) has been recently introduced to verify the robustness of the treatment planning. In this work we present the first application of UQ as a method to identify typical errors in the transport lines of a cyclotron-based proton therapy facility and analyze their impact on the properties of the therapeutic beams. We also demonstrate the potential of UQ methods in developing optimized beam optics solutions for high-dimensional problems. Sensitivity analysis and surrogate models offer a fast way to exclude unimportant parameters frcomplex optimization problems such as the design of a superconducting gantry performed at Paul Scherrer Institute in Switzerland.     

Effects of remedies made in patient setup process on residual setup errors and margins in head and neck cancer radiotherapy based on 2D image guidance

AimPatient setup errors were aimed to be reduced in radiotherapy (RT) of head-and-neck (H&N) cancer. Some remedies in patient setup procedure were proposed for this purpose.BackgroundRT of H&N cancer has challenges due to patient rotation and flexible anatomy. Residual position errors occurring in treatment situation and required setup margins were estimated for relevant bony landmarks after the remedies made in setup process and compared with previous results.Materials and methodsThe formation process for thermoplastic masks was improved. Also image matching was harmonized to the vertebrae in the middle of the target and a 5 mm threshold was introduced for immediate correction of systematic errors of the landmarks. After the remedies, residual position errors of bony landmarks were retrospectively determined from 748 orthogonal X-ray images of 40 H&N cancer patients. The landmarks were the vertebrae C1–2, C5–7, the occiput bone and the mandible. The errors include contributions from patient rotation, flexible anatomy and inter-observer variation in image matching. Setup margins (3D) were calculated with the Van Herk formula.ResultsSystematic residual errors of the landmarks were reduced maximally by 49.8% (p ≤ 0.05) and the margins by 3.1 mm after the remedies. With daily image guidance the setup margins of the landmarks were within 4.4 mm, but larger margins of 6.4 mm were required for the mandible.ConclusionsRemarkable decrease in the residual errors of the bony landmarks and setup margins were achieved through the remedies made in the setup process. The importance of quality assurance of the setup process was demonstrated.     

Clinical implementations of 4D pencil beam scanned particle therapy: Report on the 4D treatment planning workshop 2016 and 2017

In 2016 and 2017, the 8th and 9th 4D treatment planning workshop took place in Groningen (the Netherlands) and Vienna (Austria), respectively. This annual workshop brings together international experts to discuss research, advances in clinical implementation as well as problems and challenges in 4D treatment planning, mainly in spot scanned proton therapy. In the last two years several aspects like treatment planning, beam delivery, Monte Carlo simulations, motion modeling and monitoring, QA phantoms as well as 4D imaging were thoroughly discussed.This report provides an overview of discussed topics, recent findings and literature review from the last two years. Its main focus is to highlight translation of 4D research into clinical practice and to discuss remaining challenges and pitfalls that still need to be addressed and to be overcome.     

The clinical feasibility and performance of an orthogonal X-ray imaging system for image-guided radiotherapy in nasopharyngeal cancer patients: Comparison with cone-beam CT

The demand for greater accuracy of intensity-modulated radiotherapy (IMRT) has driven the development of more advanced verification systems for image-guided radiotherapy (IGRT). The purpose of this study is to investigate setup discrepancies measured between an orthogonal X-ray guidance system (XGS-10) and cone-beam computed tomography (CBCT) of Varian in the IMRT of patients with nasopharyngeal cancer (NPC). The setup errors measured by XGS-10 and CBCT at the treatment unit with respect to the planning CTs were recorded for 30 patients with NPC. The differences in residual setup errors between XGS-10 system and CBCT were computed and quantitatively analyzed. The time of image acquisition and image registration was recorded. The radiation doses delivered by CBCT and XGS-10 were measured using PTW0.6CC ionization chambers and a water phantom. The differences between setup errors measured by the XGS-10 system and CBCT were generally <1.5 mm for translations, indicating a reasonably good agreement between the two systems for patients with NPC in the translation directions of A-P (P = 0.856), L-R (P = 0.856) and S-I (P = 0.765). Moreover, compared with CBCT, XGS-10 took much shorter image acquisition and registration time (P <0.001) and delivered only a small fraction of extra radiation dose to the patients (P <0.001). These results indicate that XGS-10 offers high localization accuracy similar to CBCT and additional benefits including prompt imaging process, low imaging radiation exposure, real time monitoring, which therefore represents a potential attractive alternative to CBCT for clinical use.     

Generating and using patient-specific whole-body models for organ dose estimates in CT with increased accuracy: Feasibility and validation

The estimation of patient dose using Monte Carlo (MC) simulations based on the available patient CT images is limited to the length of the scan. Software tools for dose estimation based on standard computational phantoms overcome this problem; however, they are limited with respect to taking individual patient anatomy into account. The purpose of this study was to generate whole-body patient models in order to take scattered radiation and over-scanning effects into account. Thorax examinations were performed on three physical anthropomorphic phantoms at tube voltages of 80 kV and 120 kV; absorbed dose was measured using thermoluminescence dosimeters (TLD). Whole-body voxel models were built as a combination of the acquired CT images appended by data taken from widely used anthropomorphic voxel phantoms. MC simulations were performed both for the CT image volumes alone and for the whole-body models. Measured and calculated dose distributions were compared for each TLD chip position; additionally, organ doses were determined.MC simulations based only on CT data underestimated dose by 8%–15% on average depending on patient size with highest underestimation values of 37% for the adult phantom at the caudal border of the image volume. The use of whole-body models substantially reduced these errors; measured and simulated results consistently agreed to better than 10%.This study demonstrates that combined whole-body models can provide three-dimensional dose distributions with improved accuracy. Using the presented concept should be of high interest for research studies which demand high accuracy, e.g. for dose optimization efforts.     

Absorbed dose and image quality of Varian TrueBeam CBCT compared with OBI CBCT

Purpose: Nowadays, patient positioning and target localization can be verified by using kilovolt cone beam computed tomography (kV-CBCT). There have been various studies on the absorbed doses and image qualities of different kV-CBCT systems. However, the Varian TrueBeam CBCT (TB CBCT) system has not been investigated so far. We assess the image quality and absorbed dose of TB CBCT through comparison with those of on-board imager (OBI) CBCT.Methods: The image quality was evaluated using two phantoms. A CATPHAN phantom measured the image quality parameters of the American Association of Physicists in Medicine Task Group 142 (AAPM TG-142) report. These factors are the pixel value stability and accuracy, noise, high-contrast resolution, low-contrast resolution, and image uniformity. A H₂SO₄ phantom was used to evaluate the image uniformity over a larger region than the CATPHAN phantom. In evaluating the absorbed dose, the radial dose profile and the patient organ doses at the prostate and rectum levels were evaluated.Results: The image quality parameters of AAPM TG-142 using TB CBCT are equal to or greater than those of OBI CBCT. In particular, the contrast-to-noise ratio with TB CBCT is 2.5 times higher than that with OBI CBCT. For the test of a large field uniformity, the maximum difference in the Hounsfield unit (HU) values between the centre and peripheral regions is within 30 HU with TB CBCT and 283 HU with OBI CBCT. The maximum absorbed dose with TB CBCT is decreased by 60%.Conclusions: We find that the image quality improved and the absorbed dose decreased with TB CBCT in comparison to those with OBI CBCT. Its image uniformity is also superior over a larger scanning range.