Effect of fiducial marker defects on stereotactic target localization in the Leksell stereotactic system

The stereotactic procedure in neurosurgery is a minimally invasive technique used to treat intracranial lesions. The fiducial markers of a frame-based stereotactic procedure are important for defining the stereotactic coordinate system and in locating the target. These markers are often defective in stereotactic images owing to the presence of air bubbles in the imaging indicator. We have assessed the effect of these defects on the registration of an image and on the localization of a target. The virtual phantom method was employed to simulate various types of defect. The virtual images were registered using the Leksell GammaPlan^® (LGP) radiosurgery planning system, and the image definition and the target localization errors were assessed. As a result, the effect of the defects was most severe when the majority of the marker disappeared, but not all, especially in the posterior region. The mean and maximum image definition errors were 0.1 and 1.4 mm, which caused the mean target localization error to be 0.2 and 0.0 mm in LGP version 5.34 and 8.3.1, respectively. It is recommended to exclude images with defective fiducial markers during the image definition procedure to minimize subsequent errors, though the newest version of LGP (version 8.3.1) corrects localization errors.     

Investigation of dose perturbations and the radiographic visibility of potential fiducials for proton radiation therapy of the prostate

Image guidance using implanted fiducial markers is commonly used to ensure accurate and reproducible target positioning in radiation therapy for prostate cancer. The ideal fiducial marker is clearly visible in kV imaging, does not perturb the therapeutic dose in the target volume and does not cause any artifacts on the CT images used for treatment planning. As yet, ideal markers that fully meet all three of these criteria have not been reported. In this study, 12 fiducial markers were evaluated for their potential clinical utility in proton radiation therapy for prostate cancer. In order to identify the good candidates, each fiducial was imaged using a CT scanner as well as a kV imaging system. Additionally, the dose perturbation caused by each fiducial was quantified using radiochromic film and a clinical proton beam. Based on the results, three fiducials were identified as good candidates for use in proton radiotherapy of prostate cancer.     

Influence of the number of elongated fiducial markers on the localization accuracy of the prostate

Implanting fiducial markers for localization purposes has become an accepted practice in radiotherapy for prostate cancer. While many correction strategies correct for translations only, advanced correction protocols also require knowledge of the rotation of the prostate. For this purpose, typically, three or more markers are implanted. Elongated fiducial markers provide more information about their orientation than traditional round or cylindrical markers. Potentially, fewer markers are required. In this study, we evaluate the effect of the number of elongated markers on the localization accuracy of the prostate. To quantify the localization error, we developed a model that estimates, at arbitrary locations in the prostate, the registration error caused by translational and rotational uncertainties of the marker registration. Every combination of one, two and three markers was analysed for a group of 24 patients. The average registration errors at the prostate surface were 0.3-0.8?mm and 0.4-1?mm for registrations on, respectively, three markers and two markers located on different sides of the prostate. Substantial registration errors (2.0-2.2?mm) occurred at the prostate surface contralateral to the markers when two markers were implanted on the same side of the prostate or only one marker was used. In conclusion, there is no benefit in using three elongated markers: two markers accurately localize the prostate if they are implanted at some distance from each other.     

Dosimetric accuracy of a staged radiosurgery treatment

For large cerebral arteriovenous malformations (AVMs), the efficacy of radiosurgery is limited since the large doses necessary to produce obliteration may increase the risk of radiation necrosis to unacceptable levels. An alternative is to stage the radiosurgery procedure over multiple stages (usually two), effectively irradiating a smaller volume of the AVM nidus with a therapeutic dose during each session. The difference between coordinate systems defined by sequential stereotactic frame placements can be represented by a translation and a rotation. A unique transformation can be determined based on the coordinates of several fiducial markers fixed to the skull and imaged in each stereotactic coordinate system. Using this transformation matrix, isocentre coordinates from the first stage can be displayed in the coordinate system of subsequent stages allowing computation of a combined dose distribution covering the entire AVM. The accuracy of this approach was tested on an anthropomorphic head phantom and was verified dosimetrically. Subtle defects in the phantom were used as control points, and 2 mm diameter steel balls attached to the surface were used as fiducial markers and reference points. CT images (2 mm thick) were acquired. Using a transformation matrix developed with two frame placements, the predicted locations of control and reference points had an average error of 0.6 mm near the fiducial markers and 1.0 mm near the control points. Dose distributions in a staged treatment approach were accurately calculated using the transformation matrix. This approach is simple, fast and accurate. Errors were small and clinically acceptable for Gamma Knife radiosurgery. Accuracy can be improved by reducing the CT slice thickness.     

A simple device for high-precision head image registration: preliminary performance and accuracy tests

The purpose of this paper is to present a new device for multimodal head study registration and to examine its performance in preliminary tests. The device consists of a system of eight markers fixed to mobile carbon pipes and bars which can be easily mounted on the patient's head using the ear canals and the nasal bridge. Four graduated scales fixed to the rigid support allow examiners to find the same device position on the patient's head during different acquisitions. The markers can be filled with appropriate substances for visualisation in computed tomography (CT), magnetic resonance, single photon emission computer tomography (SPECT) and positron emission tomography images. The device's rigidity and its position reproducibility were measured in 15 repeated CT acquisitions of the Alderson Rando anthropomorphic phantom and in two SPECT studies of a patient. The proposed system displays good rigidity and reproducibility characteristics. A relocation accuracy of less than 1,5 mm was found in more than 90% of the results. The registration parameters obtained using such a device were compared to those obtained using fiducial markers fixed on phantom and patient heads, resulting in differences of less than 1 degree and 1 mm for rotation and translation parameters, respectively. Residual differences between fiducial marker coordinates in reference and in registered studies were less than 1 mm in more than 90% of the results, proving that the device performed as accurately as noninvasive stereotactic devices. Finally, an example of multimodal employment of the proposed device is reported.     

Robust frameless stereotactic localization in extra-cranial radiotherapy

In the field of extra-cranial radiotherapy, several inaccuracies can make the application of frameless stereotactic localization techniques error-prone. When optical tracking systems based on surface fiducials are used, inter- and intra-fractional uncertainties in marker three-dimensional (3D) detection may lead to inexact tumor position estimation, resulting in erroneous patient setup. This is due to the fact that external fiducials misdetection results in deformation effects that are poorly handled in a rigid-body approach. In this work, the performance of two frameless stereotactic localization algorithms for 3D tumor position reconstruction in extra-cranial radiotherapy has been specifically tested. Two strategies, unweighted versus weighted, for stereotactic tumor localization were examined by exploiting data coming from 46 patients treated for extra-cranial lesions. Measured isocenter displacements and rotations were combined to define isocentric procedures, featuring 6 degrees of freedom, for correcting patient alignment (isocentric positioning correction). The sensitivity of the algorithms to uncertainties in the 3D localization of fiducials was investigated by means of 184 numerical simulations. The performance of the implemented isocentric positioning correction was compared to conventional point-based registration. The isocentric positioning correction algorithm was tested on a clinical dataset of inter-fractional and intra-fractional setup errors, which was collected by means of an optical tracker on the same group of patients. The weighted strategy exhibited a lower sensitivity to fiducial localization errors in simulated misalignments than those of the unweighted strategy. Isocenter 3D displacements provided by the weighted strategy were consistently smaller than those featured by the unweighted strategy. The peak decrease in median and quartile values of isocenter 3D displacements were 1.4 and 2.7 mm, respectively. Concerning clinical data, the weighted strategy isocentric positioning correction provided the reduction of fiducial registration errors, featuring up to 61.7% decrease in median values (versus 46.8% for the unweighted strategy) of initial displacements. The weighted strategy proved high performance in minimizing the effects of fiducial localization errors, showing a great potential in improving patient setup. The clinical data analysis revealed that the application of a robust reconstruction algorithm may provide high-quality results in patient setup verification, by properly managing external fiducials localization errors.     

Dose perturbations and image artifacts caused by carbon-coated ceramic and stainless steel fiducials used in proton therapy for prostate cancer

Image-guided radiation therapy using implanted fiducial markers is a common solution for prostate localization to improve targeting accuracy. However, fiducials that are typically used for conventional photon radiotherapy cause large dose perturbations in patients who receive proton radiotherapy. A proposed solution has been to use fiducials of lower atomic number (Z) materials to minimize this effect in tissue, but the effects of these fiducials on dose distributions have not been quantified. The objective of this study was to analyze the magnitude of the dose perturbations caused by select lower-Z fiducials (a carbon-coated zirconium dioxide fiducial and a plastic-coated stainless steel fiducial) and compare them to perturbations caused by conventional gold fiducials. Sets of phantoms were used to assess select components of the effects on dose. First, the fiducials were assessed for radiographic visibility using both conventional computed tomography (CT) and an on-board kilovoltage imaging device at our proton therapy center. CT streak artifacts from the fiducials were also measured in a separate phantom. Second, dose perturbations were measured downstream of the fiducials using radiochromic film. The magnitude of dose perturbation was characterized as a function of marker material, implantation depth and orientation with respect to the beam axis. The radiographic visibility of the markers was deemed to be acceptable for clinical use. The dose measurements showed that the perpendicularly oriented zirconium dioxide and stainless steel fiducials located near the center of modulation of the proton beam perturbed the dose by less than 10%, but that the same fiducials in a parallel orientation near the end of the range of the beam could perturb the dose by as much as 38%. This suggests that carbon-coated and stainless steel fiducials could be used in proton therapy if they are located far from the end of the range of the beam and if they are oriented perpendicular to the beam axis.     

Investigation of gamma knife image registration errors resulting from misalignment between the patient and the imaging axis

The ability of Leksell GammaPlan to perform stereotactic space localizations with image sets where there is misalignment of the patient's head (stereotactic frame and fiducial apparatus) relative to the computed tomography (CT) scanner coordinate system was studied. Misalignment is sometimes necessary for patient comfort. Results equally apply to magnetic resonance imaging. Seven 0.5 mm diameter CT-visible spheres were rigidly mounted to a string tied tightly at each end to diagonally opposite posts attached to a Leksell stereotactic frame. A standard CT fiducial box was applied to the frame in the usual clinical manner. A baseline CT scan (1 mm slice thickness) was obtained with the fiducial box perfectly aligned with the scanner axis. After localization of the image set, the (x,y,z) coordinate of the center of each sphere was recorded. Repeat CT scans with varying fiducial box misalignments with the imaging axis were subsequently obtained. The mean difference between the base line and the respective coordinates in misaligned geometries was approximately 0.2 mm (sigma=0.2 mm), well within the accuracy of the image sets and the delivery of radiosurgery with the Gamma Knife.     

Optimal marker placement in hadrontherapy: Intelligent optimization strategies with augmented Lagrangian pattern search

PurposeIn high precision photon radiotherapy and in hadrontherapy, it is crucial to minimize the occurrence of geometrical deviations with respect to the treatment plan in each treatment session. To this end, point-based infrared (IR) optical tracking for patient set-up quality assessment is performed. Such tracking depends on external fiducial points placement. The main purpose of our work is to propose a new algorithm based on simulated annealing and augmented Lagrangian pattern search (SAPS), which is able to take into account prior knowledge, such as spatial constraints, during the optimization process.Material and methodsThe SAPS algorithm was tested on data related to head and neck and pelvic cancer patients, and that were fitted with external surface markers for IR optical tracking applied for patient set-up preliminary correction. The integrated algorithm was tested considering optimality measures obtained with Computed Tomography (CT) images (i.e. the ratio between the so-called target registration error and fiducial registration error, TRE/FRE) and assessing the marker spatial distribution. Comparison has been performed with randomly selected marker configuration and with the GETS algorithm (Genetic Evolutionary Taboo Search), also taking into account the presence of organs at risk.ResultsThe results obtained with SAPS highlight improvements with respect to the other approaches: (i) TRE/FRE ratio decreases; (ii) marker distribution satisfies both marker visibility and spatial constraints. We have also investigated how the TRE/FRE ratio is influenced by the number of markers, obtaining significant TRE/FRE reduction with respect to the random configurations, when a high number of markers is used.ConclusionsThe SAPS algorithm is a valuable strategy for fiducial configuration optimization in IR optical tracking applied for patient set-up error detection and correction in radiation therapy, showing that taking into account prior knowledge is valuable in this optimization process. Further work will be focused on the computational optimization of the SAPS algorithm toward fast point-of-care applications.     

Image distortion in MRI-based polymer gel dosimetry of gamma knife stereotactic radiosurgery systems

We have studied effects of MR (magnetic resonance) image distortion on polymer gel dosimetry of Gamma Knife stereotactic radiosurgery systems. MR images of BANG polymer gel phantoms were acquired by using a Hahn spin-echo sequence and a fast 3D imaging GRASS sequence. Image artifacts were studied by varying the directions of frequency encoding and the receiver bandwidth. The phantoms were also CT (computed tomography) scanned. The studies showed that the measured dose distributions are shifted by 1.8+/-0.5 mm (2 pixels) in the frequency encoding direction. The magnitude of the shift is inversely proportional to the receiver bandwidth in agreement with theory. Comparison of MRI with CT showed the same image shift. We concluded that the discrepancy is caused by MR image distortion due to a difference in susceptibility effects between the phantom and the fiducial markers of the Leksell localization box.     

Real-time tumor tracking using implanted positron emission markers: concept and simulation study

The delivery accuracy of radiation therapy for pulmonary and abdominal tumors suffers from tumor motion due to respiration. Respiratory gating should be applied to avoid the use of a large target volume margin that results in a substantial dose to the surrounding normal tissue. Precise respiratory gating requires the exact spatial position of the tumor to be determined in real time during treatment. Usually, fiducial markers are implanted inside or next to the tumor to provide both accurate patient setup and real-time tumor tracking. However, current tumor tracking systems require either substantial x-ray exposure to the patient or large fiducial markers that limit the value of their application for pulmonary tumors. We propose a real-time tumor tracking system using implanted positron emission markers (PeTrack). Each marker will be labeled with low activity positron emitting isotopes, such as 124I, 74As, or 84Rb. These isotopes have half-lives comparable to the duration of radiation therapy (from a few days to a few weeks). The size of the proposed PeTrack marker will be 0.5-0.8 mm, which is approximately one-half the size of markers currently employed in other techniques. By detecting annihilation gammas using position-sensitive detectors, multiple positron emission markers can be tracked in real time. A multimarker localization algorithm was developed using an Expectation-Maximization clustering technique. A Monte Carlo simulation model was developed for the PeTrack system. Patient dose, detector sensitivity, and scatter fraction were evaluated. Depending on the isotope, the lifetime dose from a 3.7 MBq PeTrack marker was determined to be 0.7-5.0 Gy at 10 mm from the marker. At the center of the field of view (FOV), the sensitivity of the PeTrack system was 240-320 counts/s per 1 MBq marker activity within a 30 cm thick patient. The sensitivity was reduced by 45% when the marker was near the edge of the FOV. The scatter fraction ranged from 12% (124I, 74As) to 16% (84Rb). In addition, four markers (labeled with 124I) inside a 30 cm diameter water phantom were simulated to evaluate the feasibility of the multimarker localization algorithm. Localization was considered successful if a marker was localized to within 2 mm from its true location. The success rate of marker localization was found to depend on the number of annihilation events used and the error in the initial estimate of the marker position. By detecting 250 positron annihilation events from 4 markers (average of 62 events per marker), the marker success rates for initial errors of +/-5, +/-10, and +/-15 mm were 99.9%, 99.6%, and 92.4%, respectively. Moreover, the average localization error was 0.55 (+/-0.27) mm, which was independent of initial error. The computing time for localizing four markers was less than 20 ms (Pentium 4, 2.8 GHz processor, 512 MB memory). In conclusion, preliminary results demonstrate that the PeTrack technique can potentially provide real-time tumor tracking with low doses associated with the marker's activity. Furthermore, the small size of PeTrack markers is expected to facilitate implantation and reduce patient risk.     

Metallic copper as a fiducial marker for both CT and PET

There is great interest in augmenting computed tomography (CT) with information gained from other imaging modalities. Positron emission tomography (PET) provides valuable data related to patient physiology to aid in the delineation of tumor volumes. Combining the information provided by these imaging modalities requires accurate spatial registration of the two data sets. Fiducial based mapping provides straightforward registration based on corresponding landmark points or fiducials in the two image sets. When external fiducials are employed, consistent intermodality marker placement and centroid identification are essential to achieving an accurate and reliable registration. Similarity of marker design between modalities greatly aides in achieving this goal. Solid copper may serve as a fiducial marker in both CT and PET. Small spheres or wires of copper are readily visible in CT while neutron activation of these same markers produces positron emitting Copper-64 for detection by PET. The use of identical shaped markers in both imaging modalities greatly simplifies the task of intermodality centroid matching. Copper has excellent machining properties and, prior to activation, is easy and safe to handle. The feasibility of Cu as a marker for both CT and PET is demonstrated using imaging phantoms.     

Multimodality image integration for stereotactic surgical planning

A method is presented for integrating stereotactic projection and tomographic image data to give composite 3-D images (stereo pairs) of cerebral anatomy and vasculature. The technique serves to combine complementary information from each modality and allows the imaged volume to be viewed directly. The procedure is largely automated and requires no additional apparatus or information beyond that which is ordinarily employed during stereotactic surgical planning. The two types of data are combined by superimposing the projection angiogram (DSA) onto a translucent volume rendered CT or MR image. Since the rendering algorithm employs an orthographic projection technique, the tomographic volume must first be reshaped and oriented to yield a perspective view that matches the DSA projection. During this process, the data undergo various interpolations which consequently affect the accuracy of target identification based on the resulting images. The integrity of the matching procedure was assessed using simulated data sets. Also, calculations were performed to estimate the resolution of measurements made from digitized stereoscopic images. The resulting sub-pixel accuracy of the matched images suggests that the technique has potential for stereotactic applications. Preliminary results are presented illustrating combined CT-DSA and MR-DSA data sets.     

Optimal marker placement in photogrammetry patient positioning system

A photogrammetry-based patient positioning system has been used instead of the conventional laser alignment technique for patient set-up in external beam radiotherapy. It tracks skin affixed reflective markers with multiple infrared cameras. The three-dimensional (3D) positions of the markers provide reference information to determine the treatment plan isocenter location and hence provide the ability to position the lesion at the isocenter of the treatment linear accelerator. However, in current clinical practice for lung or liver lesion treatments, fiducial markers are usually randomly affixed onto the patients' chest and abdomen, so that the actual target registration error (TRE) of the internal lesions inside the body may be large, depending on the fiducial registration error (FRE). There exists an optimal marker configuration that can minimize the TRE. In this paper, we developed methods to design the patient-specific optimal configurations of the surface makers to minimize the TRE, given the patient's surface contour, the lesion position and the FRE. Floating genetic algorithm (GA) optimization was used to optimize the positions of the skin markers. The surface curve of the patient body was determined by an automatic segmentation algorithm from the planning CT. The method was evaluated using a body phantom implanted with a metal ball (a simulated target). By registering two CT scans using the surface markers and measuring the displacement of the target, the TRE was measured. The TRE was also measured by taking two orthogonal portal films after positioning the phantom using the photogrammetry based patient positioning system. A 50% reduction in TRE has been achieved by using the optimal configuration compared to the random configuration. This result demonstrates that the optimization of a fiducial configuration can result in improved tumor targeting ability.     

Using cone-beam CT projection images to estimate the average and complete trajectory of a fiducial marker moving with respiration

Stereotactic body radiotherapy of lung cancer often makes use of a static cone-beam CT (CBCT) image to localize a tumor that moves during the respiratory cycle. In this work, we developed an algorithm to estimate the average and complete trajectory of an implanted fiducial marker from the raw CBCT projection data. After labeling the CBCT projection images based on the breathing phase of the fiducial marker, the average trajectory was determined by backprojecting the fiducial position from images of similar phase. To approximate the complete trajectory, a 3D fiducial position is estimated from its position in each CBCT project image as the point on the source-image ray closest to the average position at the same phase. The algorithm was tested with computer simulations as well as phantom experiments using a gold seed implanted in a programmable phantom capable of variable motion. Simulation testing was done on 120 realistic breathing patterns, half of which contained hysteresis. The average trajectory was reconstructed with an average root mean square (rms) error of less than 0.1 mm in all three directions, and a maximum error of 0.5 mm. The complete trajectory reconstruction had a mean rms error of less than 0.2 mm, with a maximum error of 4.07 mm. The phantom study was conducted using five different respiratory patterns with the amplitudes of 1.3 and 2.6 cm programmed into the motion phantom. These complete trajectories were reconstructed with an average rms error of 0.4 mm. There is motion information present in the raw CBCT dataset that can be exploited with the use of an implanted fiducial marker to sub-millimeter accuracy. This algorithm could ultimately supply the internal motion of a lung tumor at the treatment unit from the same dataset currently used for patient setup.     

Dose quality assurance for stereotactic radiotherapy treatments.

A simple Perspex phantom is presented for routine dosimetry checks of stereotactic radiotherapy procedures, along with a procedure for checking the planning process. The phantom is hemispherical and water filled. It can be fitted into the Brown-Robert-Wells fiducial system for CT scanning and attached to the stereotactic frame for treatment. Both arcing and fixed field plans can be carried out on the phantom. We present our results, performed on a Varian 600C linac, which were found to be within 2% of the expected dose.     

Potential and limitations of the automatic detection of fiducial markers using an amorphous silicon flat-panel imager

Amorphous silicon electronic portal imaging devices (a-Si EPIDs) allow fast acquisition of high resolution portal images (PI). A visualization of organ movement for adaptive image-guided radiotherapy (IGRT) can be reached by implantation and automatic detection of fiducial markers. A method of automatic detection has been developed for fiducial spherical tungsten markers on PIs, acquired with an a-Si flat-panel imager. The detection method consists of a 2D Mexican hat filter (MHF), whose parameters are tuned to the particular marker signal. The high selectivity of this filter allows a reliable and precise detection of tungsten markers down to a diameter of 1.5 mm. The presented method allows fast, automatic and unsupervised detection of markers. Inevitably, the detection is hampered by image background (bone structures, etc) and noise. A detection success rate higher than 95% was reached, analysing PIs of patients with markers fixed on their skin. Furthermore, this approach to automatic marker detection can also be generalized to elliptic MHFs for the detection of cylindrical markers. The accuracy and detection probability of this method may allow accurate and fast online localization of the considered organ.     

直线加速器放射外科靶点位置精确度分析

目的：研究我院X－刀治疗系统的精确度。方法：应用人体头颅模型内特定标记物测定CT定位的精度，用胶片法测定二次等中心系统精度和总的治疗精度。结果：BRW头环CT定位精度为0．65mm，最大误差为1．09mm；SRS200二次等中心系统误差为0．19mm；总治疗误差理论计算值为0．68mm，胶片法检测值为1.43mm。结论：X－刀治疗系统精确度已达到立体定向放射外科质量控制要求。     

Numerical algorithms for spatial registration of line fiducials from cross-sectional images

We present several numerical algorithms for six-degree-of-freedom rigid-body registration of line fiducial objects to their marks in cross-sectional planar images, such as those obtained in CT and MRI, given the correspondence between the marks and line fiducials. The area of immediate application is frame-based stereotactic procedures, such as radiosurgery and functional neurosurgery. The algorithms are also suitable to problems where the fiducial pattern moves inside the imager, as is the case in robot-assisted image-guided surgical applications. We demonstrate the numerical methods on clinical CT images and computer-generated data and compare their performance in terms of robustness to missing data, robustness to noise, and speed. The methods show two unique strengths: (1) They provide reliable registration of incomplete fiducial patterns when up to two-thirds of the total fiducials are missing from the image; and (2) they are applicable to an arbitrary combination of line fiducials without algorithmic modification. The average speed of the fastest algorithm is 0.3236 s for six fiducial lines in real CT data in a Matlab implementation.     

Fiducial markers in prostate for kV imaging: quantification of visibility and optimization of imaging conditions

The purpose of this work is to investigate possible smaller, less-dense fiducial markers implantable into the prostate for target localization and patient repositioning verification in an on-board kV-kV imaging system on a proton gantry. The experiments used a pelvic phantom and a variety of commercially available fiducial markers: CIVCO carbon marker of ?; 1 × 3 mm, gold seed markers of ?; 0.8 × 3 mm and ?; 1.2 × 3 mm, and IBA Visicoil helical gold linear markers in diameters of 0.35, 0.50, 0.75 and 1.15 mm. Two orthogonal on-board kV imagers were arranged for digital radiographic imaging of the phantom through the lateral and anterior-posterior directions. The contrast-to-noise ratio (CNR) for a given marker was calculated and used as a quantitative measure of its visibility. The patient entrance skin exposure (ESE) was measured and parameterized for kVp, mAs and source-to-surface distance. The ratio of CNR to ESE was first introduced to characterize the efficiency for imaging a marker using a given x-ray technique in order to optimize the marker's visibility and simultaneously minimize the x-ray imaging dose. If CNR > 2, which corresponds to a significance p < 0.05, is required for acceptable visibility, the carbon marker and the smallest Visicoil marker are not suitable for imaging through dense bone but the others are capable of being employed in the clinic. It is predicted that other markers in development should have a greater thickness than equivalent of 0.14 mm thick gold in order to produce the acceptable visibility in the lateral kV imaging. The linear Visicoil marker of ?; 0.50 × 5 mm is most suitable for kV imaging in the prostate for proton therapy as it induces the least proton dose perturbation amongst the acceptable markers. An optimal range of 120-130 kVp and 40-80 mAs is determined using the maximal CNR/ESE and CNR > 2 for laterally imaging this marker in the prostate.