Feasibility of intrafraction whole-body motion tracking for total marrow irradiation

With image-guided tomotherapy, highly targeted total marrow irradiation (TMI) has become a feasible alternative to conventional total body irradiation. The uncertainties in patient localization and intrafraction motion of the whole body during hour-long TMI treatment may pose a risk to the safety and accuracy of targeted radiation treatment. The feasibility of near-infrared markers and optical tracking system (OTS) is accessed along with a megavoltage scanning system of tomotherapy. Three near-infrared markers placed on the face of a rando phantom are used to evaluate the capability of OTS in measuring changes in the markers' positions as the rando is moved in the translational direction. The OTS is also employed to determine breathing motion related changes in the position of 16 markers placed on the chest surface of human volunteers. The maximum uncertainty in locating marker position with the OTS is 1.5 mm. In the case of normal and deep breathing motion, the maximum marker position change is observed in anterior-posterior direction with the respective values of 4 and 12 mm. The OTS is able to measure surface changes due to breathing motion. The OTS may be optimized to monitor whole body motion during TMI to increase the accuracy of treatment delivery and reduce the radiation dose to the lungs.     

A real-time gyroscopic system for three-dimensional measurement of lumbar spine motion

This paper describes a new method of measuring the three-dimensional movements of the lumbar spine in real time. The measurement system consisted of solid-state gyroscopes which were attached to the trunk. They measured the angular rates of rotations in three dimensions, which were then integrated to obtain the orientation. The sensors contained gravitometers and magnetometers which provided additional information for eliminating any drift of the gyroscopes. The reliability of the data provided by the gyroscopic system was examined in a group of 19 young healthy subjects. The similarity of the movement–time curves obtained in three repeated measurements was assessed by the coefficient of multiple correlation. The coefficients were found to be high, ranging from 0.972 to 0.991. The reliability of the data was slightly lower for measuring axial rotation. The device did not only quantify the kinematic patterns in the primary plane of movements, but also the accompanying movements in the other planes. Flexion and extension was found to be mainly confined to the sagittal plane, whereas lateral bending and axial rotation always accompanied each other. It was concluded that the inertial tracking device would be a useful tool for clinical measurement as well as biomechanical investigations.     

The comparative performance of four respiratory motion predictors for real-time tumour tracking

Prediction of respiratory motion is essential for real-time tracking of lung or liver tumours in radiotherapy to compensate for system latencies. This study compares the performance of respiratory motion prediction based on linear regression (LR), neural networks (NN), kernel density estimation (KDE) and support vector regression (SVR) for various sampling rates and system latencies ranging from 0.2 to 0.6 s. Root-mean-squared prediction errors are evaluated on 12 3D lung tumour motion traces acquired at 30 Hz during radiotherapy treatments. The effect of stationary predictor training versus continuous predictor retraining as well as full 3D motion processing versus independent coordinate-wise motion processing is investigated. Model parameter optimization is performed through a grid search in the model parameter space for each predictor and all considered latencies, sampling rates, training schemes and 3D data-processing modes. Comparison of the predictors is performed in the clinically applicable setting of patient-independent model parameters. The considered predictors roughly halve the prediction errors compared to using no prediction. When averaging over all sampling rates and latencies, prediction errors normalized to errors of using no prediction of 0.44, 0.46, 0.49 and 0.55 for NN, SVR, LR and KDE are observed. The small differences between the predictors emphasize the relative importance of adequate model parameter optimization compared to the actual prediction model selection. Thorough model parameter tuning is therefore essential for fair predictor comparisons.     

Development of a real-time three-dimensional spinal motion measurement system for clinical practice

This paper presents an inertial based sensing system for real-time three-dimensional measurement of human spinal motion, in a portable and non-invasive manner. Applications of the proposed system range from diagnosis of spine injury to postural monitoring, on-field as well as in the lab setting. The system is comprised of three inertial measurement sensors, respectively attached and calibrated to the head, torso and hips, based on the subject’s anatomical planes. Sensor output is transformed into meaningful clinical parameters of rotation (twist), flexion-extension and lateral bending of each body segment, with respect to calibrated global reference space. Modeling the spine as a compound flexible pole model allows dynamic measurement of three-dimensional spine motion, which can be animated and monitored in real-time using our interactive GUI. The accuracy of the proposed sensing system has been verified with subject trials using a VICON optical motion measurement system. Experimental results indicate an error of less than 3.1° in segment orientation tracking.     

A parallelizable real-time motion tracking algorithm with applications to ultrasonic strain imaging

Ultrasound-based mechanical strain imaging systems utilize signals from conventional diagnostic ultrasound systems to image tissue elasticity contrast that provides new diagnostically valuable information. Previous works (Hall et al 2003 Ultrasound Med. Biol. 29 427, Zhu and Hall 2002 Ultrason. Imaging 24 161) demonstrated that uniaxial deformation with minimal elevation motion is preferred for breast strain imaging and real-time strain image feedback to operators is important to accomplish this goal. The work reported here enhances the real-time speckle tracking algorithm with two significant modifications. One fundamental change is that the proposed algorithm is a column-based algorithm (a column is defined by a line of data parallel to the ultrasound beam direction, i.e. an A-line), as opposed to a row-based algorithm (a row is defined by a line of data perpendicular to the ultrasound beam direction). Then, displacement estimates from its adjacent columns provide good guidance for motion tracking in a significantly reduced search region to reduce computational cost. Consequently, the process of displacement estimation can be naturally split into at least two separated tasks, computed in parallel, propagating outward from the center of the region of interest (ROI). The proposed algorithm has been implemented and optimized in a Windows system as a stand-alone ANSI C++ program. Results of preliminary tests, using numerical and tissue-mimicking phantoms, and in vivo tissue data, suggest that high contrast strain images can be consistently obtained with frame rates (10 frames s(-1)) that exceed our previous methods.     

Adapting IMRT delivery fraction-by-fraction to cater for variable intrafraction motion

This paper presents a technique for coping with variable intrafraction organ motion when delivering intensity-modulated radiation therapy (IMRT). The strategy is an adaptive delivery in which the fluence delivered up to a particular fraction is subtracted from the required total-course planned fluence to create an adapted residual fluence for the next fraction. This requires that the fluence already delivered can be computed, knowing the intrafraction motion during each fraction. If the adaptation is unconstrained, as would be required for perfect delivery of the planned fluence, then the individual fractional fluences would become unphysical, with both negative components and spikes. Hence it is argued that constraints must be applied; first, positivity constraints and second, constraints to limit fluence spikes. Additionally, it is shown to be helpful to constrain other quantities which are explained. The power of the strategy is that it adapts to the (potentially variable) moving geometry during each fraction. It is not a perfect delivery but it is always better than making no adaptation. The fractionated nature of radiation therapy is thus exploited to advantage. The fluence adaptation method does not require re-planning at each fraction but this imposes limitations which are stated. The fuller theory of dose adaptation is also developed for intrafraction motion. The method is complementary to other adaptive strategies recently discussed with respect to interfraction motion.     

Dosimetric impact of intrafraction motion for compensator-based proton therapy of lung cancer

Compensator-based proton therapy of lung cancer using an un-gated treatment while allowing the patient to breathe freely requires a compensator design that ensures tumor coverage throughout respiration. Our investigation had two purposes: one is to investigate the dosimetric impact when a composite compensator correction is applied, or is not, and the other one is to evaluate the significance of using different respiratory phases as the reference computed tomography (CT) for treatment planning dose calculations. A 4D-CT-based phantom study and a real patient treatment planning study were performed. A 3D MIP dataset generated over all phases of the acquired 4D-CT scans was adopted to design the field-specific composite aperture and compensator. In the phantom study, the MIP-based compensator design plan named plan D was compared to the other three plans, in which average intensity projection (AIP) images in conjunction with the composite target volume contour copied from the MIP images were used. Relative electron densities within the target envelope were assigned either to original values from the AIP image dataset (plan A) or to predetermined values, 0.8 (plan B) and 0.9 (plan C). In the patient study, the dosimetric impact of a compensator design based on the MIP images (plan ITV(MIP)) was compared to designs based on end-of-inhale (EOI) (plan ITV(EOI)) and middle-of-exhale (MOE) CT images (plan ITV(MOE)). The dose distributions were recalculated for each phase. Throughout the ten phases, it shows that D(GTV)(min) changed slightly from 86% to 89% (SD = 0.9%) of prescribed dose (PD) in the MIP plan, while varying greatly from 10% to 79% (SD = 26.7%) in plan A, 17% to 73% (SD = 22.5%) in plan B and 53% to 73% (SD = 6.8%) in plan C. The same trend was observed for D(GTV)(mean) and V95 with less amplitude. In the MIP-based plan ITV(MIP), D(GTV)(mean) was almost identically equal to 95% in each phase (SD = 0.5%). The patient study verified that the MIP approach increased the minimum value of D99 of the clinical target volume (CTV) by 58.8% compared to plan ITV(EOI) and 12.9% compared to plan ITV(MOE). Minimum values of D99 were 37.60%, 83.50% and 96.40% for plan ITV(EOI), plan ITV(MOE) and plan ITV(MIP), respectively. Standard deviations of D99 were significantly decreased (SD = 0.5%) in the MIP plan as compared to plan ITV(EOI) (SD = 18.9%) or plan ITV(MOE) (SD = 4.0%). These studies demonstrate that the use of MIP images to design the patient-specific composite compensators provide superior and consistent tumor coverage throughout the entire respiratory cycle whilst maintaining a low average normal lung dose. The additional benefit of the MIP-based design approach is that the dose calculation can be implemented on any single phase as long as it uses the aperture and compensator optimized from the MIP images. This also reduces the requirement for contouring on all breathing phases down to just one.     

Confirmation, refinement, and extension of a study in intrafraction motion interplay with sliding jaw motion

The interplay between a constant scan speed and intrafraction oscillatory motion produces interesting fluence intensity modulations along the axis of motion that are sensitive to the motion function, as originally shown in a classic paper by Yu et al. [Phys. Med. Biol. 43, 91-104 (1998)]. The fluence intensity profiles are explored in this note for an intuitive understanding, then compared with Yu et al., and finally further explored for the effects of low scan speed and random components of both intrafraction and interfraction motion. At slow scan speeds typical of helical tomotherapy, these fluence intensity modulations are only a few percent. With the addition of only a small amount of cycle-to-cycle randomness in frequency and amplitude, the fluence intensity profiles change dramatically. It is further shown that after a typical 30-fraction treatment, the sensitivities displayed in the single fraction fluence intensity profiles greatly diminish.     

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.     

A new way of adapting IMRT delivery fraction-by-fraction to cater for variable intrafraction motion

In this paper a technique is presented for adaptive therapy to compensate for variable intrafraction tissue motion. So long as the motion can be measured or deduced for each fraction the technique modifies the fluence profile for the subsequent fractions in a repeatable cyclic way. The fluence modification is based on projecting the dose discrepancies between the cumulative delivered dose after each fraction and the expected planned dose at the same stage. It was shown that, in general, it is best to adapt the fluence profile to moving leaves that also have been modified to 'breathe' according to some regular default motion. However, it is important to point out that, if this regular default motion were to differ too much from the variable motion at each fraction, then the result can be worse than adapting to non-breathing leaves in a dynamic MLC technique. Furthermore, in general it should always be possible to improve results by starting the adaptation process with a constrained deconvolution of the regular default motion.     

Image-guided radiosurgery for spinal tumors: methods, accuracy and patient intrafraction motion

Image-guided frameless extracranial radiosurgery has become an established treatment option; however, without a frame to restrict patient movements, intrafraction field mispositioning becomes more probable. The primary aim of this study is to determine the intrafraction motion of spinal radiosurgery patients. This aim was approached in two steps. First, a phantom study demonstrated that the system can detect movements accurately within 0.1 mm and rotational changes within 0.2 degrees. Second, patient positioning and monitoring were carried out for a group of 15 patients with 20 treatment sites. For the patient pool in the study, vertebral anatomy movement was observed to vary as much as 3 mm between sequential measurements and could occur in as little as 5 min. These results suggest a need for intrafraction patient monitoring and correctional shifts, even for patients whose overall treatment times are expected to be relatively short. Small relative rotations with standard deviations of less than 1.5 degrees were observed. The small relative rotational movements observed do not, alone, justify patient monitoring using the image-guidance system during the treatments of generally small radiosurgical targets.     

Mean position tracking of respiratory motion

Modeling and predicting tumor motion caused by respiration is challenging due to temporal variations in breathing patterns. Treatment approaches such as gating or adaptive bed adjustment/ alignment may not require full knowledge of instantaneous position, but might benefit from tracking the general trend of the motion. One simple method for tracking mean tumor position is to apply moving average filters with window sizes corresponding to the breathing periods. Yet respiratory motion is only semiperiodic, so such methods require reliable phase estimation, which is difficult in the presence of noise. This article describes a robust method to track the mean position of respiratory motion without explicitly estimating instantaneous phase. We form a state vector from the respiration signal values at the current instant and at a previous time, and fit an ellipse model to training data. Ellipse eccentricity and orientation potentially capture hysteresis in respiratory motion. Furthermore, we provide two recursive online algorithms for real time mean position tracking: a windowed version with an adaptive window size and another one with temporal discounting. We test the proposed method with simulated breathing traces, as well as with real time-displacement (RPM, Varian) signals. Estimation traces are compared with retrospectively generated moving average results to illustrate the performance of the proposed approach.     

Measurement of patient imaging dose for real-time kilovoltage x-ray intrafraction tumour position monitoring in prostate patients

The dose for image-based motion monitoring of prostate tumours during radiotherapy delivery has not been established. This study aimed to provide quantitative analysis and optimization of the fluoroscopic patient imaging dose during radiotherapy for IMRT and VMAT treatments using standard and hypofractionated treatment schedules. Twenty-two patients with type T1c N0/M0 prostate cancer and three implanted fiducial markers were considered. Minimum field sizes encompassing all fiducial markers plus a 7.5 mm motion margin were determined for each treatment beam, each patient and the complete cohort. Imaging doses were measured for different field sizes and depths in a phantom at 75 and 120 kV. Based on these measurements, the patient imaging doses were then estimated according to beam-on time for clinical settings. The population minimum field size was 5.3 × 6.1 cm2, yielding doses of 406 and 185 mGy over the course of an IMRT treatment for 75 kV (10 mAs) and 120 kV (1.04 mAs) imaging respectively, at 1 Hz. The imaging dose was reduced by an average of 28% and 32% by adopting patient-specific and treatment-beam-specific field sizes respectively. Standard fractionation VMAT imaging doses were 37% lower than IMRT doses over a complete treatment. Hypofractionated IMRT stereotactic body radiotherapy (SBRT) and VMAT SBRT imaging doses were 58% and 76% lower than IMRT doses respectively. The patient dose for kilovoltage intrafraction monitoring of the prostate was quantified. Tailoring imaging field sizes to specific patients yielded a significant reduction in the imaging dose, as did adoption of faster treatment modalities such as VMAT.     

Prostate intrafraction motion evaluation using kV fluoroscopy during treatment delivery: a feasibility and accuracy study

Margin reduction for prostate radiotherapy is limited by uncertainty in prostate localization during treatment. We investigated the feasibility and accuracy of measuring prostate intrafraction motion using kV fluoroscopy performed simultaneously with radiotherapy. Three gold coils used for target localization were implanted into the patient's prostate gland before undergoing hypofractionated online image-guided step-and-shoot intensity modulated radiation therapy (IMRT) on an Elekta Synergy linear accelerator. At each fraction, the patient was aligned using a cone-beam computed tomography (CBCT), after which the IMRT treatment delivery and fluoroscopy were performed simultaneously. In addition, a post-treatment CBCT was acquired with the patient still on the table. To measure the intrafraction motion, we developed an algorithm to register the fluoroscopy images to a reference image derived from the post-treatment CBCT, and we estimated coil motion in three-dimensional (3D) space by combining information from registrations at different gantry angles. We also detected the MV beam turning on and off using MV scatter incident in the same fluoroscopy images, and used this information to synchronize our intrafraction evaluation with the treatment delivery. In addition, we assessed the following: the method to synchronize with treatment delivery, the dose from kV imaging, the accuracy of the localization, and the error propagated into the 3D localization from motion between fluoroscopy acquisitions. With 0.16 mAs/frame and a bowtie filter implemented, the coils could be localized with the gantry at both 0 degrees and 270 degrees with the MV beam off, and at 270 degrees with the MV beam on when multiple fluoroscopy frames were averaged. The localization in two-dimensions for phantom and patient measurements was performed with submillimeter accuracy. After backprojection into 3D the patient localization error was (-0.04 +/- 0.30) mm, (0.09 +/- 0.36)mm, and (0.03 +/- 0.68)mm in the right-left (RL), anterior-posterior (AP), and superior-inferior (SI) axes, respectively. Simulations showed that while oscillating (stationary) motion cannot be effectively represented in 3D, linearly drifting (nonstationary) motion is detectable with good accuracy. These results show that measuring prostate intrafraction motion using a single kV imager during radiotherapy is feasible and can be performed with acceptable accuracy.     

Semiautomatic three-dimensional knee motion assessment system

A semiautomatic three-dimensional knee motion assessment system has been developed based on an optoelectric motion tracking system connected to an IBM-compatible computer. Critical decisions made in implementing the software component of the system include the modelling of the thigh and lower leg segments, calculating the knee angles, reaction forces, and moments; the file structure used and the format of the programs used to process the data are outlined. Once the subject-specific data have been collected, the system of programs requires no other user-intervention during processing. Also, selected curve parameters are automatically extracted from the output and combined with the subject-specific data that include precision X-ray and anthropometric data, which are all added to a knee motion assessment database. The automated portion of the system frees the experimenter from data processing and allows concentration on data analysis.     

A stochastic convolution/superposition method with isocenter sampling to evaluate intrafraction motion effects in IMRT

Current methods to calculate dose distributions with organ motion can be broadly classified as "dose convolution" and "fluence convolution" methods. In the former, a static dose distribution is convolved with the probability distribution function (PDF) that characterizes the motion. However, artifacts are produced near the surface and around inhomogeneities because the method assumes shift invariance. Fluence convolution avoids these artifacts by convolving the PDF with the incident fluence instead of the patient dose. In this paper we present an alternative method that improves the accuracy, generality as well as the speed of dose calculation with organ motion. The algorithm starts by sampling an isocenter point from a parametrically defined space curve corresponding to the patient-specific motion trajectory. Then a photon is sampled in the linac head and propagated through the three-dimensional (3-D) collimator structure corresponding to a particular MLC segment chosen randomly from the planned IMRT leaf sequence. The photon is then made to interact at a point in the CT-based simulation phantom. Randomly sampled monoenergetic kernel rays issued from this point are then made to deposit energy in the voxels. Our method explicitly accounts for MLC-specific effects (spectral hardening, tongue-and-groove, head scatter) as well as changes in SSD with isocentric displacement, assuming that the body moves rigidly with the isocenter. Since the positions are randomly sampled from a continuum, there is no motion discretization, and the computation takes no more time than a static calculation. To validate our method, we obtained ten separate film measurements of an IMRT plan delivered on a phantom moving sinusoidally, with each fraction starting with a random phase. For 2 cm motion amplitude, we found that a ten-fraction average of the film measurements gave an agreement with the calculated infinite fraction average to within 2 mm in the isodose curves. The results also corroborate the existing notion that the interfraction dose variability due to the interplay between the MLC motion and breathing motion averages out over typical multifraction treatments. Simulation with motion waveforms more representative of real breathing indicate that the motion can produce penumbral spreading asymmetric about the static dose distributions. Such calculations can help a clinician decide to use, for example, a larger margin in the superior direction than in the inferior direction. In the paper we demonstrate that a 15 min run on a single CPU can readily illustrate the effect of a patient-specific breathing waveform, and can guide the physician in making informed decisions about margin expansion and dose escalation.     

Validation of three-dimensional model-based tibio-femoral tracking during running

The purpose of this study was to determine the accuracy of a radiographic model-based tracking technique that measures the three-dimensional in vivo motion of the tibio-femoral joint during running. Tantalum beads were implanted into the femur and tibia of three subjects and computed tomography (CT) scans were acquired after bead implantation. The subjects ran 2.5m/s on a treadmill positioned within a biplane radiographic system while images were acquired at 250 frames per second. Three-dimensional implanted bead locations were determined and used as a "gold standard" to measure the accuracy of the model-based tracking. The model-based tracking technique optimized the correlation between the radiographs acquired via the biplane X-ray system and digitally reconstructed radiographs created from the volume-rendered CT model. Accuracy was defined in terms of measurement system bias, precision and root-mean-squared (rms) error. Results were reported in terms of individual bone tracking and in terms of clinically relevant tibio-femoral joint translations and rotations (joint kinematics). Accuracy for joint kinematics was as follows: model-based tracking measured static joint orientation with a precision of 0.2 degrees or better, and static joint position with a precision of 0.2mm or better. Model-based tracking precision for dynamic joint rotation was 0.9+/-0.3 degrees , 0.6+/-0.3 degrees , and 0.3+/-0.1 degrees for flexion-extension, external-internal rotation, and ab-adduction, respectively. Model-based tracking precision when measuring dynamic joint translation was 0.3+/-0.1mm, 0.4+/-0.2mm, and 0.7+/-0.2mm in the medial-lateral, proximal-distal, and anterior-posterior direction, respectively. The combination of high-speed biplane radiography and volumetric model-based tracking achieves excellent accuracy during in vivo, dynamic knee motion without the necessity for invasive bead implantation.