A planning target volume margin formula for hypofractionated intracranial stereotactic radiotherapy under cone beam CT image guidance with a six-degrees-of-freedom robotic couch and a mouthpiece-assisted mask system: a preliminary study

Objective:

A planning target volume (PTV) margin formula for hypofractionated intracranial stereotactic radiotherapy (SRT) has been proposed under cone beam CT (CBCT) image guidance with a six-degrees-of-freedom (6-DOF) robotic couch.

Methods:

CBCT-based registration using a 6-DOF couch reportedly led to negligibly small systematic positioning errors, suggesting that each in-treatment positioning error during the treatment courses for the patients employing this combination was predominantly caused by a random gaussian process. Under this assumption, an anisotropic PTV margin for each axis was formulated based on a gaussian distribution model. 19 patients with intracranial lesions who underwent additional post-treatment CBCT were consecutively selected, to whom stereotactic hypofractionated radiotherapy was delivered by a linear accelerator equipped with a CBCT imager, a 6-DOF couch and a mouthpiece-assisted mask system. Time-averaged patient-positioning errors during treatment were estimated by comparing the post-treatment CBCT with the reference planning CT images.

Results:

It was suggested that each histogram of the in-treatment positioning error in each axis would approach each single gaussian distribution with a mean of zero. The calculated PTV margins in the x, y and z directions were 0.97, 1.30 and 0.88 mm, respectively.

Conclusion:

The empirical isotropic PTV margin of 2 mm used in our facility for intracranial SRT was consistent with the margin calculated by the proposed gaussian model.

Advances in knowledge:

We have proposed a PTV margin formula for hypofractionated intracranial SRT under CBCT image guidance with a 6-DOF robotic couch.Frameless radiotherapy for treating intracranial lesions has been widely adopted under the guidance of on-board cone beam CT (CBCT) and a mask system with a six-degrees-of-freedom (6-DOF) robotic couch^1–3 or a semi-robotic couch including manual angle adjustments.⁴ Reported maximum registration errors along any Cartesian co-ordinate axis were 0.5 mm for a phantom;¹ and 1.0 or 3.2 mm (mask dependent),² 2.0 ³ and 1.2 mm⁴ for patients. The mean ± standard deviation (SD) along any Cartesian co-ordinate axis was 0.07 ± 0.17 mm for a phantom based on 12 plans and 5 repeated CBCT acquisitions,¹ 0.2 ± 0.4 mm for 10 patients with 6 fractions³ and 0.4 ± 0.3 mm for a phantom and 0.5 ± 0.3 mm for patients including manual couch angle adjustments.⁴ Meyer et al¹ stated that there was no systematic error because they observed a small mean error for their phantom study.Margins between clinical target volumes (CTVs) and planning target volumes (PTVs) are often calculated using a formula proposed by van Herk et al.^5,6 This formula employed two independent statistical models including a patient-to-patient variation model that gives a mean preparation error in all fractions for each patient, and a random error model during treatment delivery owing to random tumour movement. A patient population coverage probability of 90% in a facility was calculated by the patient-to-patient variation model, and the random error model was used to add further margins by increasing penumbra widths. Our intracranial stereotactic radiotherapy (SRT) utilizes an Elekta Synergy® (Elekta AB, Stockholm, Sweden) linear accelerator (linac) equipped with a CBCT imager, XVI and a 6-DOF robotic couch, HexaPOD™ (Elekta AB), which are identical to the system that Meyer et al¹ described. Consequently, our study can be based on the small mean preparation error reported by Meyer et al, and the above margin model may not be applicable. In addition, the previous margin model assumed that the tumour was spherical, and the margin was defined in the radial direction of the spherical co-ordinate system. For example, Guckenberger et al² calculated the PTV margin in the radial direction using registration results for 47 patients with various treatment sites and fixation means, leading to a PTV margin of 1.7 mm that achieved 90% population coverage. Meanwhile, a more accurate margin formula in the Cartesian co-ordinate system that complies with patient couch movements was proposed, in which the margins were anisotropically defined along the x, y and z directions.⁷The purpose of this study was to propose a PTV margin formula as per the Cartesian co-ordinate system for hypofractionated intracranial SRT under CBCT image guidance with a 6-DOF robotic couch.