With highly reliable control of linac positioning, the robotic radiotherapy by CyberKnife significantly increases the freedom in radiation beam placement, but also imposes more challenges on treatment plan optimization. The resampling mechanism in vendor supplied treatment planning system (MultiPlan) could not fully explore the increased beam direction search space. This study proposes a randomized singular value decomposition (RSVD) based linear programming (LP) technique for circular collimator robotic radiotherapy treatment plan optimization (CCRTPO). The RSVDLP algorithm initializes beam angle of each available node is to cover the entire target with equivalent beam taper, which fully explores the complete beam space without redundancy. Beam weight is optimized by LP, which minimizes the deviation of relax constraints (RCs) subjected to hard constraints. Based on the degeneracy of dose influence matrix (DIM), of which the column vector is the dose delivered by one beam to all voxels, a RSVD approach is developed to compress the weight variables, and back project the compressed variables to construct beam weights after optimization. The beams with lower weight are removed, and the weight of remaining beams is further optimized using the same method to reduce number of beams. The technique was demonstrated and compared with the MultiPlan on a lung case with a PTV of 15.5cm3. Both algorithms used the same set of 94 nodes, and circular collimators of 15mm & 20mm diameter. The objectives and constraints used in MultiPlan are switched in RSVDLP model. The switched model is more suitable for SBRT, as it guarantees sufficient dose for PTV and avoids cold spot. For spinal cord (SC) and trachea (Tr), RSVDLP model uses stricter RCs to achieve better protection without triggering infeasibility. RSVD is performed to preserve 90% feature of DIM, the compression rate is 24.4% (1670 compressed variables over 6832 initial beams), and the optimization is sped up 4.8 times (1785s over 370s). The table indicates that RSVDLP plan achieves better homogeneity, conformity and OAR protection with lower MU and fewer beams. Similar results were observed on liver and brain cases.Abstract 3639; Table Comparison of optimization models and results (unit in cGy)Objective (O) & constraint (C)DmaxDmeanCI2HIMUBeam #PTVSCEsTrSCEsTrLLRLRSVDLP>4500 C<4650 O<1200 O<2200 O<1200 O1613304913561173491.281.1735745134MultiPlan>4500 O<4650 C<1500 C<4150 C<4050 O<2200 C1681318016591453621.581.2837820136Abbr: esophagus-Es, left lung-LL, right lung-RL, conformity index-CI, homogeneity index-HI. Open table in a new tab Abbr: esophagus-Es, left lung-LL, right lung-RL, conformity index-CI, homogeneity index-HI. We have developed a RSVDLP technique for CCRTPO. The results demonstrate that RSVD is effective in accelerating the optimization. Due to the use of complete beam space and flexible model, the plan generated by RSVDLP achieves better dose distribution than MultiPlan.
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