CyberKnife Treatment Planning System Research Articles

Dosimetric comparison between stereotactic body radiotherapy and carbon-ion radiation therapy for prostate cancer.

Prostate cancer rates have been steadily increasing in recent years. As high-precision radiation therapy methods, stereotactic body radiation therapy (SBRT) and carbon-ion radiation therapy (CIRT) have unique advantages. Analyzing the dosimetric differences between SBRT and CIRT in the treatment of localized prostate cancer can help provide patients with more accurate, individualized treatment plans. We selected computed tomography positioning images and the contours of target volumes of 16 patients with localized prostate cancer who received radiotherapy. We delineated the organs at risk (OARs) on the CyberKnife (CK) treatment planning system (TPS) MultiPlan4.0, which were imported into the CIRT uniform scanning TPS HIMM-1 ci-Plan. Two treatment plans, SBRT and CIRT, were designed for the same patient, and we used SPSS 22.0 for the statistical analysis of data. Both SBRT and CIRT plans met the prescribed dose requirements. In terms of target volume exposure dose, D2 (P<0.001), D5 (P<0.001), D50 (P<0.001), D90 (P=0.029), D95 (P<0.001), D98 (P<0.001), and Dmean (P<0.001) under SBRT were significantly higher than those under CIRT; the conformity index (CI) under SBRT was significantly better than that under CIRT (P<0.001); the target volume coverage rate (V95%) and dose homogeneity index (HI) under CIRT were significantly better than those under SBRT (P<0.001). In terms of OAR exposure dosage, the Dmax of the bladder and rectum under SBRT was significantly lower than that under CIRT (P<0.001), but Dmean was in the other direction; the exposure dose of the intestinal tract under CIRT was significantly lower than that under SBRT (P<0.05); Dmax of the femoral head under CIRT was significantly lower than that under SBRT (P<0.05), and there was no statistical difference between them at other doses. In this study, we found that when CIRT was used for treating localized prostate cancer, the dose distribution in target volume was more homogeneous and the coverage rate was higher; the average dose of OARs was lower. SBRT had a better CI and higher dose in target volume; the dose hotspot was lower in OARs. It is important to comprehensively consider the dose relationship between local tumor and surrounding tissues when selecting treatment plans.

Evaluation of a dedicated software for semi-automated VMAT planning of spine Stereotactic Body Radiotherapy (SBRT)

PurposeTo determine whether SBRT of spinal metastasis using a dedicated treatment planning system (TPS) and delivered with a gantry-based LINAC could provide plans of similar quality to the Cyberknife technology. Additional comparison was also done with other commercial TPS used for volumetric modulated arc therapy (VMAT) planning. Materials and MethodsThirty Spine SBRT patients, previously treated in our institution with CyberKnife (Accuray, Sunnyvale) using Multiplan TPS, were replanned in VMAT with an dedicated TPS (Elements Spine SRS, Brainlab, Munich) and our clinical TPS (Monaco, Elekta LTD, Stockholm), using exactly the same arc geometry. The comparison was done by assessing differences in dose delivered to PTV, CTV and spinal cord, calculating modulation complexity scores (MCS) and performing quality control (QA) of the plans. ResultsRegardless of the vertebra level, in general, no statistical difference was found in PTV coverage between all TPS. Conversely, PTV and CTV D50% were found significantly higher for the dedicated TPS compared to others. In addition, the dedicated TPS also resulted in better gradient index (GI) than clinical VMAT TPS, whatever the vertebral level, and better GI than Cyberknife TPS for the thoracic level only. The D2% to the spinal cord was generally significantly lower with the dedicated TPS compared with others. No significant difference was found in the MCS between both VMAT TPS. All QA were clinically acceptable. ConclusionThe Elements Spine SRS TPS offers very effective and user-friendly semi-automated planning tools and is secure and promising for gantry-based LINAC spinal SBRT.

Clinical impact of the VOLO optimizer on treatment plan quality and clinical treatment efficiency for CyberKnife.

With the recent CyberKnife treatment planning system (TPS) upgrade from Precision 1.0 to Precision 2.0, the new VOLO optimizer was released for plan optimization. The VOLO optimizer sought to overcome some of the limitations seen with the Sequential optimizer from previous TPS versions. The purpose of this study was to investigate the clinical impact of the VOLO optimizer on treatment plan quality and clinical treatment efficiency as compared to the Sequential optimizer. Treatment plan quality was evaluated in four categories of patients: Brain Simple (BS), Brain Complex (BC), Spine Complex (SC), and Prostate (PC). A total of 60 treatment plans were compared using both the Sequential and VOLO optimizers with Iris and MLC collimation with the same clinical constraints. Metrics evaluated included estimated treatment time, monitor units (MUs) delivered, conformity index (CI), and gradient index (GI). Furthermore, the clinical impact of the VOLO optimizer was evaluated through statistical analysis of the patient population treated during the 4 months before (n = 297) and 4 months after (n = 285) VOLO introduction. Significant MU and time reductions were observed for all four categories planned. MU reduction ranged from −14% (BS Iris) to −52% (BC MLC), and time reduction ranged from −11% (BS Iris) to −22% (BC MLC). The statistical analysis of patient population before and after VOLO introduction for patients using 6D Skull tracking with fixed cone, 6D Skull tracking with Iris, and Xsight Spine tracking with Iris were −4.6%, −22.2%, and −17.8% for treatment time reduction, −1.1%, −22.0%, and −28.4% for beam reduction and −3.2%, −21.8%, and −28.1% for MU reduction, respectively. The VOLO optimizer maintains or improves the plan quality while decreases the plan complexity and improves treatment efficiency. We anticipate an increase in patient throughput with the introduction of the VOLO optimizer.

Benchmarking Monte-Carlo dose calculation for MLC CyberKnife treatments

BackgroundVendor-independent Monte Carlo (MC) dose calculation (IDC) for patient-specific quality assurance of multi-leaf collimator (MLC) based CyberKnife treatments is used to benchmark and validate the commercial MC dose calculation engine for MLC based treatments built into the CyberKnife treatment planning system (Precision MC).MethodsThe benchmark included dose profiles in water in 15 mm depth and depth dose curves of rectangular MLC shaped fields ranging from 7.6 mm × 7.7 mm to 115.0 mm × 100.1 mm, which were compared between IDC, Precision MC and measurements in terms of dose difference and distance to agreement. Dose distributions of three phantom cases and seven clinical lung cases were calculated using both IDC and Precision MC. The lung PTVs ranged from 14 cm3 to 93 cm3. Quantitative comparison of these dose distributions was performed using dose-volume parameters and 3D gamma analysis with 2% global dose difference and 1 mm distance criteria and a global 10% dose threshold. Time to calculate dose distributions was recorded and efficiency was assessed.ResultsAbsolute dose profiles in 15 mm depth in water showed agreement between Precision MC and IDC within 3.1% or 1 mm. Depth dose curves agreed within 2.3% / 1 mm. For the phantom and clinical lung cases, mean PTV doses differed from − 1.0 to + 2.3% between IDC and Precision MC and gamma passing rates were > =98.1% for all multiple beam treatment plans. For the lung cases, lung V20 agreed within ±1.5%. Calculation times ranged from 2.2 min (for 39 cm3 PTV at 1.0 × 1.0 × 2.5 mm3 native CT resolution) to 8.1 min (93 cm3 at 1.1 × 1.1 × 1.0 mm3), at 2% uncertainty for Precision MC for the 7 examined lung cases and 4–6 h for IDC, which, however, is not optimized for efficiency but used as a gold standard for accuracy.ConclusionsBoth accuracy and efficiency of Precision MC in the context of MLC based planning for the CyberKnife M6 system were benchmarked against MC based IDC framework. Precision MC is used in clinical practice at our institute.

Evaluation of the 4D RADPOS dosimetry system for dose and position quality assurance of CyberKnife.

The Synchrony respiratory motion tracking of the CyberKnife system purports to provide real-time tumor motion compensation during robotic radiosurgery. Such a complex delivery system requires thorough quality assurance. In this work, RADPOS applicability as a dose and position quality assurance tool for CyberKnife treatments is assessed quantitatively for different phantom types and breathing motions, which increase in complexity to more closely resemble clinical situations. Two radiotherapy treatment experiments were performed where dose and position were measured with the RADPOS probe housed within a Solid Water phantom. For the first experiment, a Solid Water breast phantom was irradiated using isocentric beam delivery while stationary or moving sinusoidally in the anterior/posterior direction. For the second experiment, a phantom consisting of a Solid Water tumor in lung equivalent material was irradiated using isocentric and non-isocentric beam delivery while either stationary or moving. The phantom movement was either sinusoidal or based on a real patient's breathing waveform. For each experiment, RADPOS dose measurements were compared to EBT3 GafChromic film dose measurements and the CyberKnife treatment planning system's (TPS) Monte Carlo and ray-tracing dose calculation algorithms. RADPOS position measurements were compared to measurements made by the CyberKnife system and to the predicted breathing motion models used by the Synchrony respiratory motion compensation. For the static and dynamic (i.e., sinusoidal motion) cases of the breast experiment, RADPOS, film and the TPS agreed at the 2.0% level within 1.1 σ of estimated combined uncertainties. RADPOS position measurements were in good agreement with LED and fiducial position measurements, where the average standard deviation (SD) of the differences between any two of the three position datasets was ≤0.5mm for all directions. For the 10mm peak to peak amplitude sinusoidal motion of the breast experiment, the average Synchrony correlation errors were ≤0.2mm, indicative of an accurate predictive model. For all the cases of the lung experiment, RADPOS and film measurements agreed with each other at the 2.0% level within 1.5 σ of estimated experimental uncertainties provided that the measurements were corrected for imaging dose. The measured dose for RADPOS and film were 4.0% and 3.4% higher, respectively, than the TPS for the most complex dynamic cases (i.e., irregular motion) considered for the lung experiment. Assessment of the Synchrony correlation models by RADPOS showed that model accuracy declined as motion complexity increased; the SD of the differences between RADPOS and model position data measurements was ≤0.8mm for sinusoidal motion but increased to ≤2.6mm for irregular patient waveform motion. These results agreed with the Synchrony correlation errors reported by the CyberKnife system. RADPOS is an accurate and precise QA tool for dose and position measurements for CyberKnife deliveries with respiratory motion compensation.

Integration of Functional Magnetic Resonance Imaging and Magnetoencephalography Functional Maps Into a CyberKnife Planning System: Feasibility Study for Motor Activity Localization and Dose Planning.

Magnetoencephalography (MEG) and functional magnetic resonance imaging (fMRI) provide noninvasive localization of eloquent brain areas for presurgical planning. The aim of this study is the integration of MEG and fMRI maps into a CyberKnife (CK) system to optimize dose planning. Four patients with brain metastases in the motor area underwent functional imaging study of the hand motor cortex before radiosurgery. MEG data were acquired during a visually cued hand motor task. Motor activations were identified also using an fMRI block-designed paradigm. MEG and fMRI maps were then integrated into a CK system and contoured as organs at risk for treatment planning optimization. The integration of fMRI data into the CK system was achieved for all patients by means of a standardized protocol. We also implemented an ad hoc pipeline to convert the MEG signal into a DICOM standard, to make sure that it was readable by our CK treatment planning system. Inclusion of the activation areas into the optimization plan allowed the creation of treatment plans that reduced the irradiation of the motor cortex yet not affecting the brain peripheral dose. The availability of advanced neuroimaging techniques is playing an increasingly important role in radiosurgical planning strategy. We successfully imported MEG and fMRI activations into a CK system. This additional information can improve dose sparing of eloquent areas, allowing a more comprehensive investigation of the related dose-volume constraints that in theory could translate into a gain in tumor local control, and a reduction of neurological complications.

SU-F-T-620: Development of a Convolution/Superposition Dose Engine for CyberKnife System

Purpose: Current CyberKnife treatment planning system (TPS) provided two dose calculation algorithms: Ray-tracing and Monte Carlo. Ray-tracing algorithm is fast, but less accurate, and also can't handle irregular fields since a multi-leaf collimator system was recently introduced to CyberKnife M6 system. Monte Carlo method has well-known accuracy, but the current version still takes a long time to finish dose calculations. The purpose of this paper is to develop a GPU-based fast C/S dose engine for CyberKnife system to achieve both accuracy and efficiency. Methods: The TERMA distribution from a poly-energetic source was calculated based on beam's eye view coordinate system, which is GPU friendly and has linear complexity. The dose distribution was then computed by inversely collecting the energy depositions from all TERMA points along 192 collapsed-cone directions. EGSnrc user code was used to pre-calculate energy deposition kernels (EDKs) for a series of mono-energy photons The energy spectrum was reconstructed based on measured tissue maximum ratio (TMR) curve, the TERMA averaged cumulative kernels was then calculated. Beam hardening parameters and intensity profiles were optimized based on measurement data from CyberKnife system. Results: The difference between measured and calculated TMR are less than 1% for all collimators except in the build-up regions. The calculated profiles also showed good agreements with the measured doses within 1% except in the penumbra regions. The developed C/S dose engine was also used to evaluate four clinical CyberKnife treatment plans, the results showed a better dose calculation accuracy than Ray-tracing algorithm compared with Monte Carlo method for heterogeneous cases. For the dose calculation time, it takes about several seconds for one beam depends on collimator size and dose calculation grids. Conclusion: A GPU-based C/S dose engine has been developed for CyberKnife system, which was proven to be efficient and accurate for clinical purpose, and can be easily implemented in TPS.

SU-E-J-64: Feasibility Study of Surgical Clips for Fiducial Tracking in CyberKnife System

Purpose: To investigate the ability of CyberKnife to track surgical clips used as fiducial markers. Methods: The Octavius 1000SRS detector and solid water (RW3) slab phantom were used with motion platform to evaluate the study. The RW3 slab phantom was set up to measure the dose distribution from coronal plane. It consists of 9 plates and the thickness of each plate is 10mm. Among them, one plate was attached with 3 surgical clips, which are orthogonally positioned on outer region of array. The length of attached clip was represented as 1cm on planning CT. The clip plate was placed on the 1000SRS detector and 3 slabs were stacked up on the plate to build the measuring depth. Below the detector, 5 slabs were set. The two-axis motion platform was programmed with 1D sinusoidal movement (20mm peak-to-peak, 3s period) toward superior/inferior and left/right directions to simulate target motion. During delivery, two clips were extracted by two X-ray imagers, which led to translational error correction only. Synchrony was also used for dynamic tracking. After the irradiation, the measured dose distribution of coronal plane was compared with the planar dose distribution calculated by the CyberKnife treatment planning system (Multiplan) for cross verification. The results were assessed by comparing the absolute Gamma (γ) index. Results: The dose distributions measured by the 1000SRS detector were in good agreements with those calculated by Multiplan. In the dosimetric comparison using γ-function criteria based on the distance-to-agreement of 3mm and the local dose difference of 3%, the passing rate with γ- parameter ≤1 was 91% in coronal plane. Conclusion: The surgical clips can be considered as new fiducials for robotic radiosurgery delivery by considering the target margin with less than 5mm.

Dynamic CT angiography for cyberknife radiosurgery planning of intracranial arteriovenous malformations: a technical/feasibility report.

Background.Successful radiosurgery for arteriovenous malformations (AVMs) requires accurate nidus delineation in the 3D treatment planning system (TPS). The catheter biplane digital subtraction angiogram (DSA) has traditionally been the gold standard for evaluation of the AVM nidus, but its 2D nature limits its value for contouring and it cannot be imported into the Cyberknife TPS. We describe a technique for acquisition and integration of 3D dynamic CT angiograms (dCTA) into the Cyberknife TPS for intracranial AVMs and review the feasibility of using this technique in the first patient cohort.Patients and methods.Dynamic continuous whole brain CT images were acquired in a Toshiba 320 volume CT scanner with data reconstruction every 0.5 sec. This multi-time-point acquisition enabled us to choose the CT data-set with the clearest nidus without significant enhancement of surrounding blood vessels. This was imported to the Cyberknife TPS and co-registered with planning CT and T2 MRI (2D DSA adjacent for reference). The feasibility of using dCTA was evaluated in the first thirteen patients with outcome evaluation from patient records.Results.dCTA data was accurately co-registered in the Cyberknife TPS and appeared to assist in nidus contouring for all patients. Imaging modalities were complementary. 85% of patients had complete (6/13) or continuing partial nidus obliteration (5/13) at 37 months median follow-up.Conclusions.dCTA is a promising imaging technique that can be successfully imported into the Cyberknife TPS and appears to assist in radiosurgery nidus definition. Further study to validate its role is warranted.

SU-E-T-216: Intercomparison of CyberKnife and GammaKnife Stereotactic Radiosurgery Treatment Plans for Metastatic Brain Tumors

Purpose: Over 40,000 patients are treated annually for metastatic brain tumors. A common method of treatment for these patients is stereotactic radiosurgery (SRS). Two commercially available options for treatment of SRS are the CyberKnife and GammaKnife. The purpose of this work was to perform a detailed comparison of the quality of the two techniques for the treatment of metastatic brain tumors using quantitative parameters. Methods: Six patients with small metastatic brain tumors (Range: 2.2cc– 14.6cc) that had previously received SRS treatment via the GammaKnife system were planned for equivalent treatment using the CyberKnife treatment planning system. To quantify the quality of the individual plans, the conformity number (CN), homogeneity index (HI) and gradient score index (GSI) were measured and compared. Both plans were created to delivery equivalent tumor coverage (Range: 10–14Gy) to the equivalent prescription volume. This was typically 99% prescription dose coverage to the GTV for both plans. Results: The calculated average HI was 0.497±0.155 versus 0.600±0.049, CI was 0.596±0.159 versus 0.865±0.022, and GSI was 41.4±17.8 versus 65.1±20.09 for CyberKnife vs GammaKnife respectively. Lower HI values imply a higher uniformity of dose throughout the target. CI ideally would be 1.000, and the closest to this value is to one, the better is the conformality to the treated site. High values for GSI implies a steeper dose falloff from the tumor to normal tissue and therefore is preferable. For this study statistical significance was achieved for CI, however due to the small sample size differences in HI and GSI were not statistically significant. Conclusion: This data suggests that SRS treatments on CyberKnife and GammaKnife are of similar quality, with Gamma Knife able to deliver a slightly more conformal plan for the treatment of brain metastases.

Dose distribution transfer from CyberKnife to Varian treatment planning system

The aim of this paper was to introduce one of the options of the locally developed DDcon.exe which gives the possibility to transfer the dose distribution from CyberKnife (Accuray) treatment planning system (CK TPS) to Varian treatment planning system (Eclipse TPS, Varian). DICOM format is known as a universal format for medical data. The dose distribution is stored as RTdose file in DICOM format, so there should be a possibility to transfer it between different treatment planning systems. Trying to transfer RTdose file from CK TPS to Eclipse TPS the error message occurs. That's because the RTdose file in CK TPS is connected with Structure_Set_Sequence against Eclipse TPS where it's connected with RT_Plan_Sequence. To make it transferable RTdose file from CK TPS have to be 'disconnected' from Structure_Set_Sequence and 'connected' with RT_Plan_Sequence. This is possible thanks DDcon software which creates new RTdose file by changing proper DICOM tags in original RTdose file. New homemade software gives us an opportunity to transfer dose distribution from CyberKnife TPS to TPS Eclipse. This method opens new possibilities to combine or compare different treatment techniques in Varian TPS.

Establishing a process of irradiating small animal brain using a CyberKnife and a microCT scanner

Establish and validate a process of accurately irradiating small animals using the CyberKnife G4 System (version 8.5) with treatment plans designed to irradiate a hemisphere of a mouse brain based on microCT scanner images. These experiments consisted of four parts: (1) building a mouse phantom for intensity modulated radiotherapy (IMRT) quality assurance (QA), (2) proving usability of a microCT for treatment planning, (3) fabricating a small animal positioning system for use with the CyberKnife's image guided radiotherapy (IGRT) system, and (4)in vivo verification of targeting accuracy. A set of solid water mouse phantoms was designed and fabricated, with radiochromic films (RCF) positioned in selected planes to measure delivered doses. After down-sampling for treatment planning compatibility, a CT image set of a phantom was imported into the CyberKnife treatment planning system--MultiPlan (ver. 3.5.2). A 0.5 cm diameter sphere was contoured within the phantom to represent a hemispherical section of a mouse brain. A nude mouse was scanned in an alpha cradle using a microCT scanner (cone-beam, 157 × 149 pixels slices, 0.2 mm longitudinal slice thickness). Based on the results of our positional accuracy study, a planning treatment volume (PTV) was created. A stereotactic body mold of the mouse was "printed" using a 3D printer laying UV curable acrylic plastic. Printer instructions were based on exported contours of the mouse's skin. Positional reproducibility in the mold was checked by measuring ten CT scans. To verify accurate dose delivery in vivo, six mice were irradiated in the mold with a 4 mm target contour and a 2 mm PTV margin to 3 Gy and sacrificed within 20 min to avoid DNA repair. The brain was sliced and stained for analysis. For the IMRT QA using a set of phantoms, the planned dose (6 Gy to the calculation point) was compared to the delivered dose measured via film and analyzed using Gamma analysis (3% and 3 mm). A passing rate of 99% was measured in areas of above 40% of the prescription dose. The final inverse treatment plan was comprised of 43 beams ranging from 5 to 12.5 mm in diameter (2.5 mm size increments are available up to 15 mm in diameter collimation). Using the Xsight Spine Tracking module, the CyberKnife system could not reliably identify and track the tiny mouse spine; however, the CyberKnife system could identify and track the fiducial markers on the 3D mold.In vivo positional accuracy analysis using the 3D mold generated a mean error of 1.41 mm ± 0.73 mm when fiducial markers were used for position tracking. Analysis of the dissected brain confirmed the ability to target the correct brain volume. With the use of a stereotactic body mold with fiducial markers, microCT imaging, and resolution down-sampling, the CyberKnife system can successfully perform small-animal radiotherapy studies.

Accuracy of out-of-field dose calculation of tomotherapy and cyberknife treatment planning systems: A dosimetric study

PurposeLate toxicities such as second cancer induction become more important as treatment outcome improves. Often the dose distribution calculated with a commercial treatment planning system (TPS) is used to estimate radiation carcinogenesis for the radiotherapy patient. However, for locations beyond the treatment field borders, the accuracy is not well known. The aim of this study was to perform detailed out-of-field-measurements for a typical radiotherapy treatment plan administered with a Cyberknife and a Tomotherapy machine and to compare the measurements to the predictions of the TPS. Materials and methodsIndividually calibrated thermoluminescent dosimeters were used to measure absorbed dose in an anthropomorphic phantom at 184 locations. The measured dose distributions from 6 MV intensity-modulated treatment beams for CyberKnife and TomoTherapy machines were compared to the dose calculations from the TPS. ResultsThe TPS are underestimating the dose far away from the target volume. Quantitatively the Cyberknife underestimates the dose at 40cm from the PTV border by a factor of 60, the Tomotherapy TPS by a factor of two. If a 50% dose uncertainty is accepted, the Cyberknife TPS can predict doses down to approximately 10 mGy/treatment Gy, the Tomotherapy-TPS down to 0.75 mGy/treatment Gy. The Cyberknife TPS can then be used up to 10cm from the PTV border the Tomotherapy up to 35cm. ConclusionsWe determined that the Cyberknife and Tomotherapy TPS underestimate substantially the doses far away from the treated volume. It is recommended not to use out-of-field doses from the Cyberknife TPS for applications like modeling of second cancer induction. The Tomotherapy TPS can be used up to 35cm from the PTV border (for a 390 cm3 large PTV).

Dosimetric effect of CT contrast agent in CyberKnife treatment plans

BackgroundTo investigate the effect of computed tomography (CT) contrast enhancement (CE) on the 3D dose distributions of non-coplanar small field beams in the CyberKnife (CK) treatment planning system (TPS) for the stereotactic ablative radiotherapy (SABR).MethodsTwenty-two pre-CE CT treatment plans were recruited to this retrospective plan study. Their post-CE CT plans were based on the pre-CE CT plan data and calculated using the same MU and beam paths in either Ray-Tracing or Monte Carlo (MC) algorithms. The differences in the doses of the beam path and the reference point between the pre- and post-CE CT plans were compared. The minimum, maximum, and mean doses in dose-volume histograms (DVHs) of target and organs-at-risk (OARs) were also compared.ResultsThe dose differences between the pre- and post-CE plans in a single beam path were less than 1.05% in both calculation algorithms, with respect to the prescription dose. At the center of the target volume, it was 1.9% (maximum 6.2%) in Ray-Tracing and 1.6% (maximum 4.0%) in MC. The CA effect showed on average 1.2% difference in the OAR maximum dose (maximum 7.8% in Ray-Tracing and 7.2% in MC). In the lung cases, the CT CE resulted in a dose difference of 2.4% (from 1.0% to 6.5%) without the calculation algorithm effect (maximum 20.3%).ConclusionsThe CK treatment plan using the post-CE CT generally afforded less than 2% dose differences from the pre-CE CT plan. However, it could be up to 7.8% depending on the target positions in a body and be more than 20% with the calculation algorithms. Thus, the post-CE CT in CK treatment plans should be used with careful consideration for the CA effect, target position, and calculation algorithm factors.

Experimental evaluations of the accuracy of 3D and 4D planning in robotic tracking stereotactic body radiotherapy for lung cancers

Due to the complexity of 4D target tracking radiotherapy, the accuracy of this treatment strategy should be experimentally validated against established standard 3D technique. This work compared the accuracy of 3D and 4D dose calculations in respiration tracking stereotactic body radiotherapy (SBRT). Using the 4D planning module of the CyberKnife treatment planning system, treatment plans for a moving target and a static off-target cord structure were created on different four-dimensional computed tomography (4D-CT) datasets of a thorax phantom moving in different ranges. The 4D planning system used B-splines deformable image registrations (DIR) to accumulate dose distributions calculated on different breathing geometries, each corresponding to a static 3D-CT image of the 4D-CT dataset, onto a reference image to compose a 4D dose distribution. For each motion, 4D optimization was performed to generate a 4D treatment plan of the moving target. For comparison with standard 3D planning, each 4D plan was copied to the reference end-exhale images and a standard 3D dose calculation was followed. Treatment plans of the off-target structure were first obtained by standard 3D optimization on the end-exhale images. Subsequently, they were applied to recalculate the 4D dose distributions using DIRs. All dose distributions that were initially obtained using the ray-tracing algorithm with equivalent path-length heterogeneity correction (3D EPL and 4D EPL) were recalculated by a Monte Carlo algorithm (3D MC and 4D MC) to further investigate the effects of dose calculation algorithms. The calculated 3D EPL, 3D MC, 4D EPL, and 4D MC dose distributions were compared to measurements by Gafchromic EBT2 films in the axial and coronal planes of the moving target object, and the coronal plane for the static off-target object based on the γ metric at 5%/3mm criteria (γ5%/3mm). Treatment plans were considered acceptable if the percentage of pixels passing γ5%/3mm (Pγ<1) ≥ 90%. The averaged Pγ<1 values of the 3D EPL, 3D MC, 4D EPL, and 4D MC dose calculation methods for the moving target plans are 95%, 95%, 94%, and 95% for reproducible motion, and 95%, 96%, 94%, and 93% for nonreproducible motion during actual treatment delivery. The overall measured target dose distributions are in better agreement with the 3DMC dose distributions than the 4DMC dose distributions. Conversely, measured dose distributions agree much better with the 4D EPL/MC than the 3D EPL/MC dose distributions in the static off-target structure, resulting in higher Pγ<1 values with 4D EPL/MC (91%) vs 3D EPL (24%) and 3D MC (25%). Systematic changes of target motion reduced the averaged Pγ<1 to 47% and 53% for 4D EPL and 4D MC dose calculations, and 22% for 3D EPL/MC dose calculations in the off-target films. In robotic tracking SBRT, 4D treatment planning was found to yield better prediction of the dose distributions in the off-target structure, but not necessarily in the moving target, compared to standard 3D treatment planning, for reproducible and nonreproducible target motion. It is important to ensure on a patient-by-patient basis that the cumulative uncertainty associated with the 4D-CT artifacts, deformable image registration, and motion variability is significantly smaller than the cumulative uncertainty occurred in standard 3D planning in order to make 4D planning a justified option.

Accuracy and sensitivity of four‐dimensional dose calculation to systematic motion variability in stereotatic body radiotherapy (SBRT) for lung cancer

The dynamic movement of radiation beam in real‐time tumor tracking may cause overdosing to critical organs surrounding the target. The primary objective of this study was to verify the accuracy of the 4D planning module incorporated in CyberKnife treatment planning system. The secondary objective was to evaluate the error that may occur in the case of a systematic change of motion pattern. Measurements were made using a rigid thorax phantom. Target motion was simulated with two waveforms (sin and cos4) of different amplitude and frequency. Inversely optimized dose distributions were calculated in the CyberKnife treatment planning system using the 4D Monte Carlo dose calculation algorithm. Each plan was delivered to the phantom assuming (1) reproducible target motion, and (2) systematic change of target motion pattern. The accuracy of 4D dose calculation algorithm was assessed using GAFCHROMIC EBT2 films based on 5%/3 mm γ criteria. Treatment plans were considered acceptable if the percentage of pixels passing the 5%/3 mm γ criteria was greater than 90%. The mean percentages of pixels passing were 95% for the target and 91% for the static off‐target structure, respectively, with reproducible target motion. When systematic changes of the motion pattern were introduced during treatment delivery, the mean percentages of pixels passing decreased significantly in the off‐target films (48%; p < 0.05), but did not change significantly in the target films (92%; p=0.324) compared to results of reproducible target motion. These results suggest that the accuracy of 4D dose calculation, particularly in off‐target stationary structure, is strongly tied to the reproducibility of target motion and that the solutions of 4D planning do not reflect the clinical nature of nonreproducible target motion generally.PACS numbers: 87.53.Ly, 87.55.km

SU-E-T-524: The Effect of CT Contrast on CyberKnife Treatment Planning.

To investigate the effect of CT contrast enhancement (CE) on the 3D dose distributions of non-coplanar small field beams in the CyberKnife (CK) treatment planning system. Twenty patients treated by pre-CE CT plans were recruited to this retrospective plan study. Their post-CE CT plans were based on the pre-CE CT plan data and calculated using the same MU and beam paths in either Ray-Tracing or Monte Carlo (MC) algorithms. The differences in doses of the beam path and the reference point and in DVHs of target and OARs between the pre-CE CT and the post-CE CT plans were compared. The minimum dose, the maximum dose, the mean dose, and the dose received to 50% of the target and OARs volumes, and the target volume coverage were also compared. The dose differences between the pre-CE and post-CE plans in a single beam path were less than 50 cGy in both calculation algorithms. At the center of target volume, it was 1.9% (maximum 6.2%) in Ray-Tracing and 1.5% (maximum 4.0%) in MC, with respect to the prescription dose. The post-CE plans showed on average 2% decrease in the OAR maximum dose (maximum 6.4% in Ray-Tracing and 5.8% in MC). Regardless of the algorithms, the dose to the target and the target volume coverage of post-CE plans were on average reduced by 2% and 1 %, respectively, with a maximum reduction of 6.1% (in Ray-Tracing) in the minimum target dose. The CK treatment plan using the post-CE CT could generally result in a few % dose differences from the pre-CE CT plan. However, it could be more than 6%, depending on the target positions in the body and the calculation algorithms. Thus the post-CE CT in CK treatment plans should be used with a caution.

Influence of smoothing algorithms in Monte Carlo dose calculations of cyberknife treatment plans: A lung phantom study

The Monte Carlo dose calculation algorithm yields accurate dose distributions in heterogeneous media and interfaces. The Monte Carlo calculation algorithm provided in the Multiplan Cyberknife treatment planning system (Accuray, Sunnyvale, CA, USA) has five different dose-smoothing algorithms in it. As the principle of smoothing of these algorithms is different, they can produce a disparity in the final dose distribution. The aim of the present study is to analyze the influence of these Monte Carlo smoothing algorithms in the final dose distribution of cyberknife treatment plans. An anthropomorphic lung phantom with a tumor mimicking ball target was taken for this study. The basic optimization was performed with the Ray tracing algorithm. The Monte Carlo calculations were introduced with each smoothing algorithm on the basic plan and the plans were compared. The Monte Carlo doses were found to be lesser than the Ray tracing doses. The dose conformity index was above 4 for all the smoothing algorithms, while it was only 1.19 for Ray tracing. The least coverage of 6.34 was obtained for a weighted average algorithm. The deviation between the V100% values of different smoothing algorithms was higher than the deviation in V80%. The deviations between the smoothing algorithms are higher in the high-dose regions, including the prescribing isodose, than the low-dose regions of the target, as well as in the organs at risk (OAR).

SU-E-T-579: Comparison of Dose Distributions Depending on the Patient Positions in Robotic Radiotherapy of Spine Metastases

Purpose: To compare the dose distributions depending on the patient positions in robotic radiation surgery or therapy of spine metastases and to provide an alternative compensating the insufficient tumor coverage of supine setup. Methods: A chest phantom (CIRS Inc., Norfolk, VA) was used to mimic three patient positions, supine, prone, and lateral. Three- dimensional computed tomography (CT) images of each patient position were obtained, and the same gross tumor volume (GTV), spinal cord and lung were delineated in the MuliPlan, a CyberKnife treatment planning system. GTV covered whole vertebral body and spinal cord was equally separated from the GTV in three patient positions. Non-isocentric and inverse planning was performed with Ray tracing and Monte Carlo algorithm, respectively. Five independent plans were built for each position to make the calculated dose distribution statistically meaningful. GTV was prescribed with 24 Gy in three fractions to the 80% isodose line in the first optimization step without any beam reduction. Coverage and conformality of GTV, V18 of spinal cord, V10 and V5 of each lung were compared under the same dose prescription. Results: The delineated volumes of GTV had 0.02% of standard deviation with respect to its average volume. In prone position, tumor coverage was the highest and V18 of spinal cord was much lower than that of supine whereas the conformality index (CI) was relatively higher because of its highest tumor coverage. V10 and V5 of each lung were also the lowest in prone. In lateral position, all values were good but tumor coverage was almost 10% lower than that of prone. Conclusions: Prone position showed the most excellent dose distribution in robotic radiotherapy plans for spine metastases. If the supine setup is inevitable, CT scan range has to be extended more into superior-inferior (S-I) direction to compensate the lower volume coverage of tumor. This study was funded by Gyeongsang National University Hospital.

SU-FF-T-640: Evaluation of Monte Carlo Treatment Planning for CyberKnife Stereotactic Radiosurgery/radiotherapy Treatments of Head and Body Lesions

Purpose: To evaluate Monte Carlo calculated plans for Cyberknife Stereotactic Radiosurgery/Radiotherapy treatments of head and body lesions. Method and Materials: The Multiplan is the Cyberknife treatment planning system which recently implemented a Monte Carlo(MC) in addition to the original pencil‐beam based Raytrace (RT) algorithm for dose calculations. This study compares DVHs and maximum doses (Dmax) to the lesions and selected critical organs obtained by the two algorithms. Planning is done on CT fused with either MRI or PET image sets as appropriate. A treatment plan is created on the Multiplan 2.1 using the RT with equivalent pathlength inhomogemeity corrections. When an acceptable distribution is obtained, the plan is recalculated using MC with 1% relative mean standard deviation. The number of beams, beam directions, and monitor units are kept the same. The dose distributions are then compared with respect to maximum doses to target and critical organs, as well as target coverage. Results: For lung lesions PTV Dmax calculated by the RT are on average larger then the MCdoses by up to a factor of 1.63 while Dmax to critical structures were up to 4 times greater. For cranial and abdominal targets the differences in maximum doses and tumor coverage were generally less than 2% between the two plans. Larger differences of ∼5% are noted for planning for lesions in the nasopharynx in the vicinity of air cavities. Conclusion: In lungMC can produce large differences in target and critical organs'dose coverage relative to RT. RT tends to underdose target structures and the effect is more pronounced as the collimator size decreases. Smaller differences are observed in plans for sites where beams traverse mostly homogeneous water‐equivalent tissue. Therefore the Monte Carlo algorithm should be consistently used for planning for lesions in lung and near air cavities.