Dosimetric and radiobiological impact of dose fractionation on respiratory motion induced IMRT delivery errors: a volumetric dose measurement study

Respiratory motion can introduce substantial dose errors during IMRT delivery. These errors are difficult to predict because of the nonsynchronous interplay between radiation beams and tissues. The present study investigates the impact of dose fractionation on respiratory motion induced dosimetric errors during IMRT delivery and their radiobiological implications by using measured 3D dose. We focused on IMRT delivery with dynamic multileaf collimation (DMLC-IMRT). IMRT plans using several beam arrangements were optimized for and delivered to a polystyrene phantom containing a simulated target and critical organs. The phantom was set in linear sinusoidal motion at a frequency of 15 cycles/min (0.25 Hz). The amplitude of the motion was +/- 0.75 cm in the longitudinal direction and +/- 0.25 cm in the lateral direction. Absolute doses were measured with a 0.125 cc ionization chamber while dose distributions were measured with transverse films spaced 6 mm apart. Measurements were performed for varying number of fractions with motion, with respiratory-gated motion, and without motion. A tumor control probability (TCP) model for an inhomogeneously irradiated tumor was used to calculate and compare TCPs for the measurements and the treatment plans. Equivalent uniform doses (EUD) were also computed. For individual fields, point measurements using an ionization chamber showed substantial dose deviations (-11.7% to 47.8%) for the moving phantom as compared to the stationary phantom. However, much smaller deviations (-1.7% to 3.5%) were observed for the composite dose of all fields. The dose distributions and DVHs of stationary and gated deliveries were in good agreement with those of treatment plans, while those of the nongated moving phantom showed substantial differences. Compared to the stationary phantom, the largest differences observed for the minimum and maximum target doses were -18.8% and +19.7%, respectively. Due to their random nature, these dose errors tended to average out over fractionated treatments. The results of five-fraction measurements showed significantly improved agreement between the moving and stationary phantom. The changes in TCP were less than 4.3% for a single fraction, and less than 2.3% for two or more fractions. Variation of average EUD per fraction was small (< 3.1 cGy for a fraction size of 200 cGy), even when the DVHs were noticeably different from that of the stationary tumor. In conclusion, IMRT treatment of sites affected by respiratory motion can introduce significant dose errors in individual field doses; however, these errors tend to cancel out between fields and average out over dose fractionation. 3D dose distributions, DVHs, TCPs, and EUDs for stationary and moving cases showed good agreement after two or more fractions, suggesting that tumors affected by respiration motion may be treated using IMRT without significant dosimetric and biological consequences.     

A method of calculating a lung clinical target volume DVH for IMRT with intrafractional motion

The motion of lung tumors from respiration has been reported in the literature to be as large as 1-2 cm. This motion requires an additional margin between the Clinical Target Volume (CTV) and the Planning Target Volume (PTV). In Intensity Modulated Radiotherapy (IMRT), while such a margin is necessary, the margin may not be sufficient to avoid unintended high and low dose regions to the interior on moving CTV. Gated treatment has been proposed to improve normal tissues sparing as well as to ensure accurate dose coverage of the tumor volume. The following questions have not been addressed in the literature: (a) what is the dose error to a target volume without a gated IMRT treatment? (b) What is an acceptable gating window for such a treatment. In this study, we address these questions by proposing a novel technique for calculating the three-dimensional (3-D) dose error that would result if a lung IMRT plan were delivered without a gated linac beam. The method is also generalized for gated treatment with an arbitrary triggering window. IMRT plans for three patients with lung tumors were studied. The treatment plans were generated with HELIOS for delivery with 6 MV on a CL2100 Varian linear accelerator with a 26 pair MLC. A CTV to PTV margin of 1 cm was used. An IMRT planning system searches for an optimized fluence map phi(x,y) for each port, which is then converted into a dynamic MLC file (DMLC). The DMLC file contains information about MLC subfield shapes and the fractional Monitor Units (MUs) to be delivered for each subfield. With a lung tumor, a CTV that executes a quasiperiodic motion z(t) does not receive phi(x,y), but rather an Effective Incident Fluence EIF(x,y). We numerically evaluate the EIF(x,y) from a given DMLC file by a coordinate transformation to the Target's Eye View (TEV). In the TEV coordinate system, the CTV itself is stationary, and the MLC is seen to execute a motion -z(t) that is superimposed on the DMLC motion. The resulting EIF(x,y) is input back into the dose calculation engine to estimate the 3-D dose to a moving CTV. In this study, we model respiratory motion as a sinusoidal function with an amplitude of 10 mm in the superior-inferior direction, a period of 5 s, and an initial phase of zero.     

Management of three-dimensional intrafraction motion through real-time DMLC tracking

Tumor tracking using a dynamic multileaf collimator (DMLC) represents a promising approach for intrafraction motion management in thoracic and abdominal cancer radiotherapy. In this work, we develop, empirically demonstrate, and characterize a novel 3D tracking algorithm for real-time, conformal, intensity modulated radiotherapy (IMRT) and volumetric modulated arc therapy (VMAT)-based radiation delivery to targets moving in three dimensions. The algorithm obtains real-time information of target location from an independent position monitoring system and dynamically calculates MLC leaf positions to account for changes in target position. Initial studies were performed to evaluate the geometric accuracy of DMLC tracking of 3D target motion. In addition, dosimetric studies were performed on a clinical linac to evaluate the impact of real-time DMLC tracking for conformal, step-and-shoot (S-IMRT), dynamic (D-IMRT), and VMAT deliveries to a moving target. The efficiency of conformal and IMRT delivery in the presence of tracking was determined. Results show that submillimeter geometric accuracy in all three dimensions is achievable with DMLC tracking. Significant dosimetric improvements were observed in the presence of tracking for conformal and IMRT deliveries to moving targets. A gamma index evaluation with a 3%-3 mm criterion showed that deliveries without DMLC tracking exhibit between 1.7 (S-IMRT) and 4.8 (D-IMRT) times more dose points that fail the evaluation compared to corresponding deliveries with tracking. The efficiency of IMRT delivery, as measured in the lab, was observed to be significantly lower in case of tracking target motion perpendicular to MLC leaf travel compared to motion parallel to leaf travel. Nevertheless, these early results indicate that accurate, real-time DMLC tracking of 3D tumor motion is feasible and can potentially result in significant geometric and dosimetric advantages leading to more effective management of intrafraction motion.     

Monte Carlo dose calculation of segmental IMRT delivery to a moving phantom using dynamic MLC and gating log files

Respiratory gating is emerging as a tool to limit the effect of motion for liver and lung tumors. In order to study the impact of target motion and gated intensity modulated radiation therapy (IMRT) delivery, a computer program was developed to simulate segmental IMRT delivery to a moving phantom. Two distinct plans were delivered to a rigid-motion phantom with a film insert in place under four conditions: static, sinusoidal motion, gated sinusoidal motion with a duty cycle of 25% and gated sinusoidal motion with duty cycle of 50% under motion conditions of a typical patient (A = 1 cm, T = 4 s). The MLC controller log files and gating log files were retained to perform a retrospective Monte Carlo dose calculation of the plans. Comparison of the 2D planar dose distributions between simulation and measurement demonstrated that our technique had at least 94% of the points passing gamma criteria of 3% for dose difference and 3 mm as the distance to agreement. This note demonstrates that the use of dynamic multi-leaf collimator and respiratory monitoring system log files together with a fast Monte Carlo dose calculation algorithm is an accurate and efficient way to study the dosimetric effect of motion for gated or non-gated IMRT delivery on a rigidly-moving body.     

Quantifying the effect of intrafraction motion during breast IMRT planning and dose delivery

Respiratory motion during intensity modulated radiation therapy (IMRT) causes two types of problems. First, the clinical target volume (CTV) to planning target volume (PTV) margin needed to account for respiratory motion means that the lung and heart dose is higher than would occur in the absence of such motion. Second, because respiratory motion is not synchronized with multileaf collimator (MLC) motion, the delivered dose is not the same as the planned dose. The aims of this work were to evaluate these problems to determine (a) the effects of respiratory motion and setup error during breast IMRT treatment planning, (b) the effects of the interplay between respiratory motion and multileaf collimator (MLC) motion during breast IMRT delivery, and (c) the potential benefits of breast IMRT using breath-hold, respiratory gated, and 4D techniques. Seven early stage breast cancer patient data sets were planned for IMRT delivered with a dynamic MLC (DMLC). For each patient case, eight IMRT plans with varying respiratory motion magnitudes and setup errors (and hence CTV to PTV margins) were created. The effects of respiratory motion and setup error on the treatment plan were determined by comparing the eight dose distributions. For each fraction of these plans, the effect of the interplay between respiratory motion and MLC motion during IMRT delivery was simulated by superimposing the respiratory trace on the planned DMLC leaf motion, facilitating comparisons between the planned and expected dose distributions. When considering respiratory motion in the CTV-PTV expansion during breast IMRT planning, our results show that PTV dose heterogeneity increases with respiratory motion. Lung and heart doses also increase with respiratory motion. Due to the interplay between respiratory motion and MLC motion during IMRT delivery, the planned and expected dose distributions differ. This difference increases with respiratory motion. The expected dose varies from fraction to fraction. However, for the seven patients studied and respiratory trace used, for no breathing, shallow breathing, and normal breathing, there were no statistically significant differences between the planned and expected dose distributions. Thus, for breast IMRT, intrafraction motion degrades treatment plans predominantly by the necessary addition of a larger CTV to PTV margin than would be required in the absence of such motion. This motion can be limited by breath-hold, respiratory gated, or 4D techniques.     

IMAT-SIM: a new method for the clinical dosimetry of intensity-modulated arc therapy (IMAT)

Dynamic-gantry multi-leaf collimator (MLC)-based, intensity-modulated radiotherapy (IMAT) has been proposed as an alternative to tomotherapy. In contrast to fixed-gantry, MLC-based intensity-modulated radiotherapy (IMRT), where commercial treatment planning systems (TPS) or dosimetric analysis software currently provide many automatic tools enabling two-dimensional (2D) detectors (matrix or electronic portal imaging devices) to be used as measurement systems, for the planning and delivery of IMAT these tools are generally not available. A new dosimetric method is proposed to overcome some of these limitations. By converting the MLC files of IMAT beams from arc to fixed gantry-angle modality, while keeping the leaf trajectories equal, IMAT plans can be both simulated in the TPS and executed as fixed-gantry, sliding-window DMLC treatments. In support of this idea, measurements of six IMAT plans, in their double form of original arcs and converted fixed-gantry DMLC beams (IMAT-SIM), have been compared among themselves and with their corresponding IMAT-SIM TPS calculations. Radiographic films and a 2D matrix ionization chamber detector rigidly attached to the accelerator gantry and set into a cubic plastic phantom have been used for these measurements. Finally, the TPS calculation-algorithm implementations of both conformal dynamic MLC arc (CD-ARC) modalities, used for clinical IMAT calculations, and DMLC modalities (IMAT-SIM), proposed as references for validating IMAT plan dose-distributions, have been compared. The comparisons between IMAT and IMAT-SIM delivered beams have shown very good agreement with similar shapes of the measured dose profiles which can achieve a mean deviation (+/-2sigma) of (0.35+/-0.16) mm and (0.37+/-0.14)%, with maximum deviations of 1.5 mm and 3%. Matching the IMAT measurements with their corresponding IMAT-SIM data calculated by the TPS, these deviations remain in the range of (1.01+/-0.28) mm and (-1.76+/-0.42)%, with maximums of 3 mm and 5%, limits generally accepted for IMRT plan dose validation. Differences in the algorithm implementations have been found, but by correcting CD-ARC calculations for the leaf-end transmission offset (LTO) effect the IMAT and IMAT-SIM simulations agree well in terms of final dose distributions. The differences found between IMAT and the IMAT-SIM beam measurements are due to the different controls of leaf motion (via electron gun delay in the latter) that cannot be used in the former to correct possible speed variations in the rotation of the gantry. As the IMAT delivered beams are identical to what the patient will receive during the treatment, and the IMAT-SIM beam calculations made by the TPS reproduce exactly the treatment plans of that patient, the accuracy of this new dosimetric method is comparable to that which is currently used for static IMRT. This new approach of 2D-detector dosimetry, together with the commissioning, quality-assurance, and preclinical dosimetric procedures currently used for IMRT techniques, can be applied and extended to any kind of dynamic-gantry MLC-based treatment modality either CD-ARC or IMAT.     

Incorporation of realistic delivery limitations into dynamic MLC treatment delivery

The clinical implementation of IMRT involves the use of a number of complex software-based systems, typically including an inverse planning system, a leaf sequencer, and a computer-controlled treatment delivery system. The inverse planning system determines the desired fluence patterns, the leaf sequencer translates those fluence maps into leaf trajectories, and the control system delivers those trajectories. While verification of intensity-modulated treatment fields has focused primarily on the dosimetric aspects of delivery, accurate delivery of the intended fluence distribution is dependent upon both the leaf sequencer and delivery control systems. Leaf sequencing algorithms typically do not incorporate many control system limitations, and this can lead to discrepancies between planned and delivered sequences. In this work, simple and complex fields were sequenced for the dynamic sliding window technique using different leaf speeds and tolerance settings to identify various limitations of the accelerator control system. This work was conducted on a Varian 2100 EX equipped with a Millennium 120 leaf MLC. The identified limitations were then incorporated into the sequencing algorithm using a limiting leaf velocity (less than the maximum leaf velocity), the leaf position tolerance, and the communications delay in the control system. Collision avoidance in leaf pairs was found to depend on a control system-enforced minimum gap between leaves and led to acceleration effects. By incorporating these effects into the leaf sequencing algorithm, dynamic sliding-window leaf sequences were produced which did not require beam interruptions or dose rate modulations for the parameter values used in calculating the sequence (dose rate, tolerance, leaf speed, and total monitor units). Incorporation of control system limitations into the leaf sequencing algorithm results in IMRT fields that are delivered with the prescribed constant dose rate, require less time to deliver, and have well-defined, calculable transmission dose characteristics.     

Intensity modulated radiotherapy dose delivery error from radiation field offset inaccuracy

In Intensity Modulated Radiotherapy (IMRT), irradiation is delivered in a number of small aperture subfields. The fluences shaped by these small apertures are highly sensitive to inaccuracies in multileaf collimator (MLC) calibration. The Radiation Field Offset (RFO) is the difference between a radiation and a light field at the Source to Axis Distance (SAD) for a MLC. An Intensity Modulated Radiotherapy (IMRT) system must incorporate a RFO by closing in all leaf openings. In IMRT, RFO inaccuracy will result in a dose error to the interior of a target volume. We analyze dosimetric consequences of incorporating a wrong RFO into the CORVUS, 1 cm x 1 cm, step and shoot, IMRT system. The following method was employed. First an IMRT plan is generated for a target volume in a phantom, which produces a set of dynamic MLC (DMLC) files with the correct RFO value. To simulate delivery with a wrong RFO value, we wrote a computer code that reads in the DMLC file with the correct RFO value and produces another DMLC with an incorrect RFO specified by a user. Finally the phantom was irradiated with the correct and the incorrect RFO valued DMLC files, and the doses were measured with an ionization chamber. The method was applied to 9 fields, 6 MV, IMRT plans. We measured Dose Error Sensitivity Factor (DESF) for each plan, which ranged from (0-8)% mm(-1). The DESF(x) is defined as a fractional dose error to a point (x) in a target volume per mm of the RFO error, i.e., DESF(x) is equivalent to ?deltaD(x)/D(x)deltaRFO?. Therefore, we concluded that for CORVUS, 6 MV, 1 cm x 1 cm, step and shoot IMRT, RFO must be determined within an accuracy of 0.5 mm if a fractional dose error to a target volume is to be less than 4%. We propose an analytic framework to understand the measured DESF's. From the analysis we conclude that a large DESF was associated with an DMLC file with small average leaf openings. For 1 cm x 1 cm, step and shoot IMRT, the largest possible DESF is predicted to be 20% mm(-1). In addition, we wrote computer code that can calculate a DESF of a DMLC file. The code was written in Mathematica 3.0. The code can be used to screen patient IMRT plans that are highly sensitive to a RFO error.     

Motion adaptive x-ray therapy: a feasibility study

Intrafraction motion caused by breathing requires increased treatment margins for chest and abdominal radiotherapy and may lead to 'motion artefacts' in dose distributions during intensity modulated radiotherapy (IMRT). Technologies such as gated radiotherapy may significantly increase the treatment time, while breath-hold techniques may be poorly tolerated by pulmonarily compromised patients. A solution that allows reduced margins and dose distribution artefacts, without compromising delivery time, is to synchronously follow the target motion by adapting the x-ray beam using a dynamic multileaf collimator (MLC), i.e. motion adaptive x-ray therapy, or MAX-T for short. Though the target is moving with time, in the MAX-T beam view the target is static. The MAX-T method superimposes the target motion due to respiration onto the beam originally planned for delivery. Thus during beam delivery the beam is dynamically changing position with respect to the isocentre using a dynamic MLC, the leaf positions of which are dependent upon the target position. Synchronization of the MLC motion and target motion occurs using respiration gated radiotherapy equipment. The concept and feasibility of MAX-T and the capability of the treatment machine to deliver such a treatment were investigated by performing measurements for uniform and IMRT fields using a mechanical sinusoidal oscillator to simulate target motion. Target dose measurements obtained using MAX-T for a moving target were found to be equivalent to those delivered to a static target by a static beam.     

Dosimetric considerations for validation of a sequential IMRT process with a commercial treatment planning system

Commercial multileaf collimator (MLC) systems can employ leaves with rounded ends. Treatment planning beam modelling should consider the effects of transmission through rounded leaf ends to provide accurate dosimetry for IMRT treatments delivered with segmented MLC. We determined that an MLC leaf gap reduction of 1.4 mm is required to obtain an agreement between calculated and measured profile 50% dose points. A head and neck dosimetry phantom, supplied by the Radiological Physics Center (RPC), was planned and irradiated as a necessary credentialing requirement for the RTOG H-0022 protocol. The agreement between the RPC TLD measurements and treatment planning calculations was within experimental error for the primary and secondary planning target volumes (PTVs); however, the calculated mean dose for the critical structure was approximately 9% lower than the RPC TLD measurements. RPC radiochromic film profile measurements also indicated significant discrepancies (>5%) with calculated values especially in the high dose gradient region in the vicinity of the critical structure. These results substantiate our own in-house phantom measurements, performed with the same IMRT fields as for the RPC phantom experiment, using Kodak EDR2 film to measure absolute dose. Our results indicate a maximum underestimate of calculated dose of 12% with no leaf gap reduction. The discrepancy between measured and calculated phantom values is reduced to +/- 5% when a leaf gap reduction of 1.4 mm is used. A further improvement in the accuracy of dose calculation is not possible without a more accurate modelling of the leaf end transmission by the planning system. In the absence of published dosimetric criteria for IMRT our results stress the need for stringent in-house dosimetric QA and validation for IMRT treatments. We found the dosimetric validation service provided by the RPC to be a valuable component of our IMRT validation efforts.     

The influence of breathing motion on intensity modulated radiotherapy in the step-and-shoot technique: phantom measurements for irradiation of superficial target volumes

For intensity modulated radiotherapy (IMRT) of deep-seated tumours, dosimetric variations of the original static dose profiles due to breathing motion can be primarily considered as blurring effects known from conventional radiotherapy. The purpose of this dosimetric study was to clarify whether these results are transferable to superficial targets and to quantify the additional effect of fractionation. A solid polystyrene phantom and an anthropomorphic phantom were used for film and ion chamber dose measurements. The phantoms were installed on an electric driven device and moved with a frequency of 6 or 12 cycles per minute and an amplitude of 4 mm or 10 mm. A split beam geometry of two adjacent asymmetric fields and an IMRT treatment plan with 12 fields for irradiation of the breast were investigated. For the split beam geometry the dose modifications due to unintended superposition of partial fields were reduced by fractionation and completely smoothed out after 20 fractions. IMRT applied to the moving phantom led to a more homogeneous dose distribution compared to the static phantom. The standard deviation of the target dose which is a measure of the dose homogeneity was 10.3 cGy for the static phantom and 7.7 cGy for a 10 mm amplitude. The absolute dose values, measured with ionization chambers, remained unaffected. Irradiation of superficial targets by IMRT in the step-and-shoot technique did not result in unexpected dose perturbations due to breathing motion. We conclude that regular breathing motion does not jeopardize IMRT of superficial target volumes.     

DMLC IMRT delivery to targets moving in 2D in Beam's eye view

The goal of this article is to present the algorithm for DMLC leaf control capable of delivering IMRT to tumors that experience motion in two dimensions in the beams eye view (BEV) plane. The generic, two-dimensional (2D) motion of the projection of the rigid target on BEV plane can be divided into two components. The first component describes the motion of the projection of the target along the x axis (parallel to the MLC leaf motions) and the other describes the motion of the target projection on the y axis (perpendicular to the leaf motion direction). First, time optimal leaf trajectories are calculated independently for each leaf pair of the MLC assembly to compensate the x-axis component of the 2D motion of the target on the BEV. These leaf trajectories are then synchronized following the mid time (MT) synchronization procedure. To compensate for the y-axis component of the motion of the target projection on the BEV plane, the procedure of "switching" leaf pair trajectories in the upward (or downward) direction is executed when the target's BEV projection moves upward (or downward) from its equilibrium position along the y axis. When the intensity function is a 2D histogram, the error between the intended and delivered intensity in 2D DMLC IMRT delivery will depend on the shape of the intensity map and on the MLC physical constraint (leaf width and maximum admissible leaf speed). The MT synchronization of leaf trajectories decreases the impact of above constraints on the error in 2D DMLC IMRT intensity map delivery. The proof is provided, that if hardware constraints in the 2D DMLC IMRT delivery strategy are removed, the errors between planned and delivered 2D intensity maps are entirely eliminated. Examples of 2D DMLC IMRT delivery to rigid targets moving along elliptical orbits on BEV planes are calculated and analyzed for 20 clinical fluence maps. The comparisons between the intensity delivered without motion correction, with motion correction along x axis only, and with motion correction for full 2D motion of the target are calculated and quantitatively evaluated. The fluence maps were normalized to 100 MU and the rms difference between the desired and delivered fluence was 12 MU for no motion compensation, 11.18 MU for 1D compensation, and 4.73 MU for 2D motion compensations. The advantage of correcting for full 2D motion of target projected on the BEV plane is demonstrated.     

Analytic IMRT dose calculations utilizing Monte Carlo to predict MLC fluence modulation

A hybrid dose-computation method is designed which accurately accounts for multileaf collimator (MLC)-induced intensity modulation in intensity modulated radiation therapy (IMRT) dose calculations. The method employs Monte Carlo (MC) modeling to determine the fluence modulation caused by the delivery of dynamic or multisegmental (step-and-shoot) MLC fields, and a conventional dose-computation algorithm to estimate the delivered dose to a phantom or a patient. Thus, it determines the IMRT fluence prediction accuracy achievable by analytic methods in the limit that the analytic method includes all details of the MLC leaf transport and scatter. The hybrid method is validated and benchmarked by comparison with in-phantom film dose measurements, as well as dose calculations from two in-house, and two commercial treatment planning system analytic fluence estimation methods. All computation methods utilize the same dose algorithm to calculate dose to a phantom, varying only in the estimation of the MLC modulation of the incident photon energy fluence. Gamma analysis, with respect to measured two-dimensional (2D) dose planes, is used to benchmark each algorithm's performance. The analyzed fields include static and dynamic test patterns, as well as fields from ten DMLC IMRT treatment plans (79 fields) and five SMLC treatment plans (29 fields). The test fields (fully closed MLC, picket fence, sliding windows of different size, and leaf-tip profiles) cover the extremes of MLC usage during IMRT, while the patient fields represent realistic clinical conditions. Of the methods tested, the hybrid method most accurately reproduces measurements. For the hybrid method, 79 of 79 DMLC field calculations have gamma < 1 (3%/3 mm) for more than 95% of the points (per field) while for SMLC fields, 27 of 29 pass the same criteria. The analytic energy fluence estimation methods show inferior pass rates, with 76 of 79 DMLC and 24 of 29 SMLC fields having more than 95% of the test points with gamma < or = 1 (3%/3 mm). Paired one-way ANOVA tests of the gamma analysis results found that the hybrid method better predicts measurements in terms of both the fraction of points with gamma < or = 1 and the average gamma for both 2%/2 mm and 3%/3 mm criteria. These results quantify the enhancement in accuracy in IMRT dose calculations when MC is used to model the MLC field modulation.     

Interleaf leakage for 5 and 10 mm dynamic multileaf collimation systems incorporating patient motion

Use of dynamic multileaf collimation (DMLC) for intensity modulated radiation therapy (IMRT) is accelerating. Delivery systems have the ailment of interleaf leakage (IL). This is compounded by the inefficiency of IMRT delivery, estimated to be a factor of 5 for DMLC. With IL on the order of 4%, it is possible to deliver as much as 20% of the prescribed dose to nonprescribed regions. However, IL is characterized by narrow Gaussian peaks of approximately 0.5-1.0 mm full-width-half-maximum (FWHM). We performed a leakage study for 5 and 10 mm leaf systems, accounting for intratreatment and intertreatment motions. In solid phantoms, film was placed perpendicular to beams. DMLC patterns delivered step-wedged distributions. The same field was duplicated using a collimating jaw in a segmented fashion to obtain baseline data of primary and scatter contributions. Longitudinal shifts up to 4 mm and angulations up to 4 degrees were introduced during beam delivery by running multiple patterns, to arrive at a composite delivery. The intent of these rigid body motion experiments was to replicate patient motion. Clinical IMRT fields using segmented MLC were also tested. Films were scanned and converted to dose. A microionization chamber confirmed film data at discrete points. In all cases shifts diminished IL peak values. In the step-wedge case, the net 18 MV IL peaks diminished from 3.6% to 3.2% for the 10 mm system. The 5 mm system IL values decreased from 4.0% to 3.2% with a 2 mm shift but increased to 4.0% with 4 mm shifts. The clinical field data followed the same pattern with a washing out of peak values, but the overall transmission to shielded regions slightly increased. Therefore nonprescribed regions are influenced by an effective transmission value rather than discrete peak IL values. The 5 mm leaf system does not introduce increased IL and is an appropriate system for IMRT.     

Analysis of the effects of the delivery technique on an IMRT plan: comparison for multiple static field, dynamic and NOMOS MIMiC collimation.

The process of delivering an IMRT treatment may involve various beam-modifying techniques such as multileaf collimators (MLCs), the NOMOS MIMiC, blocks, wedges, etc. In the case of the MLC, the spatial/temporal variation of the position of the leaves and diaphragms in the beam allows the delivery of modulated beam profiles either by the multiple-static-field (MSF) method or by the dynamic multileaf collimator (DMLC) method. The constraints associated with the IMRT delivery technique are usually neglected in the process of obtaining the 'optimal' inverse treatment plan. Consequently, dose optimization may be significantly reduced when the 'optimal' beam profiles are converted to leaf/diaphragm positions via a leaf-sequencing interpreter. The paper presented here assesses the effects on the optimum treatment plan of the following leaf-sequencing algorithms: MSF, DMLC and NOMOS MIMiC. The results obtained suggest that the delivery of an 'optimum' plan produces an overdosage of the PTV region due to various factors such as leaf/diaphragm transmission effects, head-scatter and phantom-scatter contributions. The overdosage observed for a cohort of ten patients was 2.5, 3.7 and 5.7%, respectively, for the DMLC, MSF and NOMOS MIMiC, after normalizing the delivered fluence to account for IMRT effects (using the method of Convery et al (Convery D J, Cogrove V P and Webb S 2000 Proc. 13th Int. Conf. on Computers in Radiotherapy (Heidelberg, 2000)) such as to obtain 70 Gy at the isocentre. The IMRT techniques DMLC, MIMiC and MSF were compared for the organs at risk: rectum, bladder, and left and right femoral heads.     

A real-time dynamic-MLC control algorithm for delivering IMRT to targets undergoing 2D rigid motion in the beam's eye view

An MLC control algorithm for delivering intensity modulated radiation therapy (IMRT) to targets that are undergoing two-dimensional (2D) rigid motion in the beam's eye view (BEV) is presented. The goal of this method is to deliver 3D-derived fluence maps over a moving patient anatomy. Target motion measured prior to delivery is first used to design a set of planned dynamic-MLC (DMLC) sliding-window leaf trajectories. During actual delivery, the algorithm relies on real-time feedback to compensate for target motion that does not agree with the motion measured during planning. The methodology is based on an existing one-dimensional (ID) algorithm that uses on-the-fly intensity calculations to appropriately adjust the DMLC leaf trajectories in real-time during exposure delivery [McMahon et al., Med. Phys. 34, 3211-3223 (2007)]. To extend the 1D algorithm's application to 2D target motion, a real-time leaf-pair shifting mechanism has been developed. Target motion that is orthogonal to leaf travel is tracked by appropriately shifting the positions of all MLC leaves. The performance of the tracking algorithm was tested for a single beam of a fractionated IMRT treatment, using a clinically derived intensity profile and a 2D target trajectory based on measured patient data. Comparisons were made between 2D tracking, 1D tracking, and no tracking. The impact of the tracking lag time and the frequency of real-time imaging were investigated. A study of the dependence of the algorithm's performance on the level of agreement between the motion measured during planning and delivery was also included. Results demonstrated that tracking both components of the 2D motion (i.e., parallel and orthogonal to leaf travel) results in delivered fluence profiles that are superior to those that track the component of motion that is parallel to leaf travel alone. Tracking lag time effects may lead to relatively large intensity delivery errors compared to the other sources of error investigated. However, the algorithm presented is robust in the sense that it does not rely on a high level of agreement between the target motion measured during treatment planning and delivery.     

Clinical implementation of target tracking by breathing synchronized delivery

Target-tracking techniques can be categorized based on the mechanism of the feedback loop. In real time tracking, breathing-delivery phase correlation is provided to the treatment delivery hardware. Clinical implementation of target tracking in real time requires major hardware modifications. In breathing synchronized delivery (BSD), the patient is guided to breathe in accordance with target motion derived from four-dimensional computed tomography (4D-CT). Violations of mechanical limitations of hardware are to be avoided at the treatment planning stage. Hardware modifications are not required. In this article, using sliding window IMRT delivery as an example, we have described step-by-step the implementation of target tracking by the BSD technique: (1) A breathing guide is developed from patient's normal breathing pattern. The patient tries to reproduce this guiding cycle by following the display in the goggles; (2) 4D-CT scans are acquired at all the phases of the breathing cycle; (3) The average tumor trajectory is obtained by deformable image registration of 4D-CT datasets and is smoothed by Fourier filtering; (4) Conventional IMRT planning is performed using the images at reference phase (full exhalation phase) and a leaf sequence based on optimized fluence map is generated; (5) Assuming the patient breathes with a reproducible breathing pattern and the machine maintains a constant dose rate, the treatment process is correlated with the breathing phase; (6) The instantaneous average tumor displacement is overlaid on the dMLC position at corresponding phase; and (7) DMLC leaf speed and acceleration are evaluated to ensure treatment delivery. A custom-built mobile phantom driven by a computer-controlled stepper motor was used in the dosimetry verification. A stepper motor was programmed such that the phantom moved according to the linear component of tumor motion used in BSD treatment planning. A conventional plan was delivered on the phantom with and without motion. The BSD plan was also delivered on the phantom that moved with the prescheduled pattern and synchronized with the delivery of each beam. Film dosimetry showed underdose and overdose in the superior and inferior regions of the target, respectively, if the tumor motion is not compensated during the delivery. BSD delivery resulted in a dose distribution very similar to the planned treatments.     

Dosimetric impact of geometric errors due to respiratory motion prediction on dynamic multileaf collimator-based four-dimensional radiation delivery

The synchronization of dynamic multileaf collimator (DMLC) response with respiratory motion is critical to ensure the accuracy of DMLC-based four dimensional (4D) radiation delivery. In practice, however, a finite time delay (response time) between the acquisition of tumor position and multileaf collimator response necessitates predictive models of respiratory tumor motion to synchronize radiation delivery. Predicting a complex process such as respiratory motion introduces geometric errors, which have been reported in several publications. However, the dosimetric effect of such errors on 4D radiation delivery has not yet been investigated. Thus, our aim in this work was to quantify the dosimetric effects of geometric error due to prediction under several different conditions. Conformal and intensity modulated radiation therapy (IMRT) plans for a lung patient were generated for anterior-posterior/posterior-anterior (AP/PA) beam arrangements at 6 and 18 MV energies to provide planned dose distributions. Respiratory motion data was obtained from 60 diaphragm-motion fluoroscopy recordings from five patients. A linear adaptive filter was employed to predict the tumor position. The geometric error of prediction was defined as the absolute difference between predicted and actual positions at each diaphragm position. Distributions of geometric error of prediction were obtained for all of the respiratory motion data. Planned dose distributions were then convolved with distributions for the geometric error of prediction to obtain convolved dose distributions. The dosimetric effect of such geometric errors was determined as a function of several variables: response time (0-0.6 s), beam energy (6/18 MV), treatment delivery (3D/4D), treatment type (conformal/IMRT), beam direction (AP/PA), and breathing training type (free breathing/audio instruction/visual feedback). Dose difference and distance-to-agreement analysis was employed to quantify results. Based on our data, the dosimetric impact of prediction (a) increased with response time, (b) was larger for 3D radiation therapy as compared with 4D radiation therapy, (c) was relatively insensitive to change in beam energy and beam direction, (d) was greater for IMRT distributions as compared with conformal distributions, (e) was smaller than the dosimetric impact of latency, and (f) was greatest for respiration motion with audio instructions, followed by visual feedback and free breathing. Geometric errors of prediction that occur during 4D radiation delivery introduce dosimetric errors that are dependent on several factors, such as response time, treatment-delivery type, and beam energy. Even for relatively small response times of 0.6 s into the future, dosimetric errors due to prediction could approach delivery errors when respiratory motion is not accounted for at all. To reduce the dosimetric impact, better predictive models and/or shorter response times are required.     

DMLC leaf-pair optimal control of IMRT delivery for a moving rigid target

In dynamic multileaf collimation (DMLC), pairs of servo-controlled leaves sweep across the target to deliver the modulated radiation intensity map while the beam is on continuously. The mathematical model for dynamic, optimal control of a single leaf pair has been developed for the case of a rigid target, translating parallel to the leaf trajectories. This mathematical model ensures delivery of the modulated intensity map while minimizing beam-on time. Numerical solutions of the model are presented here for optimal IMRT delivery for stationary and oscillating targets, together with a discussion of the results. Comparisons between solutions for stationary and mobile targets, as well as comparisons between optimal and suboptimal algorithms, are provided. These comparisons allow us to estimate potential gains in the effectiveness of DMLC IMRT delivery when it is based on optimal algorithms.