Stereoscopic X-ray Imaging Research Articles

33: Updated results of intrafractional motion detection for spine SBRT via stereoscopic X-ray imaging

33: Updated results of intrafractional motion detection for spine SBRT via stereoscopic X-ray imaging

Intrafractional motion detection for spine SBRT via X-ray imaging using ExacTrac Dynamic

PurposeDue to its close vicinity to critical structures, especially the spinal cord, standards for safety for spine stereotactic body radiotherapy (SBRT) should be high. This study was conducted, to evaluate intrafractional motion during spine SBRT for patients without individualized immobilization (e.g., vacuum cushions) using high accuracy patient monitoring via orthogonal X-ray imaging. MethodsIntrafractional X-ray data were collected from 29 patients receiving 79 fractions of spine SBRT. No individualized immobilization devices were used during the treatment. Intrafractional motion was monitored using the ExacTrac Dynamic (ETD) System (Brainlab AG, Munich, Germany). Deviations were detected in six degrees of freedom (6 DOF). Tolerances for repositioning were 0.7 mm for translational and 0.5° for rotational deviations. Patients were repositioned when the tolerance levels were exceeded. ResultsOut of the 925 pairs of stereoscopic X-ray images examined, 138 (15 %) showed at least one deviation exceeding the predefined tolerance values. In all 6 DOF together, a total of 191 deviations out of tolerance were recorded. The frequency of deviations exceeding the tolerance levels varied among patients but occurred in all but one patient. Deviations out of tolerance could be seen in all 6 DOF. Maximum translational deviations were 2.6 mm, 2.3 mm and 2.8 mm in the lateral, longitudinal and vertical direction. Maximum rotational deviations were 1.8°, 2.6° and 1.6° for pitch, roll and yaw, respectively. Translational deviations were more frequent than rotational ones, and frequency and magnitude of deviations showed an inverse correlation. ConclusionIntrafractional motion detection and patient repositioning during spine SBRT using X-ray imaging via the ETD System can lead to improved safety during the application of high BED in critical locations. When using intrafractional imaging with low thresholds for re-positioning individualized immobilization devices (e.g. vacuum cushions) may be omitted.

Stereoscopic X-ray image and thermo-optical surface guidance for breast cancer radiotherapy in deep inspiration breath-hold

PurposeTo investigate the feasibility of a thermo-optical surface imaging (SGRT) system combined with room-based stereoscopic X‑ray image guidance (IGRT) in a dedicated breast deep inspiration breath-hold (DIBH) irradiation workflow. In this context, benchmarking of portal imaging (EPID) and cone-beam CT (CBCT) against stereoscopic X‑rays was performed.MethodsSGRT + IGRT data of 30 left-sided DIBH breast patients (1 patient with bilateral cancer) treated in 351 fractions using thermo-optical surface imaging and X-ray IGRT were retrospectively analysed. Patients were prepositioned based on a free-breathing surface reference derived from a CT scan. Once the DIBH was reached using visual feedback, two stereoscopic X‑ray images were acquired and registered to the digitally reconstructed radiographs derived from the DIBH CT. Based on this registration, a couch correction was performed. Positioning and monitoring by surface and X-ray imaging were verified by protocol-based EPID or CBCT imaging at selected fractions and the calculation of residual geometric deviations.ResultsThe median X‑ray-derived couch correction vector was 4.9 (interquartile range [IQR] 3.3–7.1) mm long. Verification imaging was performed for 134 fractions (216 RT field verifications) with EPID and for 37 fractions with CBCT, respectively. The median 2D/3D deviation vector length over all verification images was 2.5 (IQR 1.6–3.9) mm/3.4 (IQR 2.2–4.8) mm for EPID/CBCT, both being well within the planning target volume (PTV) margins (7 mm). A moderate correlation (0.49–0.65) was observed between the surface signal and X-ray position in DIBH.ConclusionDIBH treatments using thermo-optical SGRT and X-ray IGRT were feasible for breast cancer patients. Stereoscopic X‑ray positioning was successfully verified by standard IGRT techniques.

Initial end-to-end testing of the ExacTrac dynamic deep inspiration breath hold workflow using a breath hold breast phantom

ExacTrac Dynamic (ETD) provides a Deep Inspiration Breath Hold (DIBH) workflow for breast patients. Stereoscopic x-ray imaging combined with optical and thermal mapping allows localisation against simulation imaging, alongside surface guided breath hold monitoring. This work aimed to determine appropriate imaging parameters, the optimal Hounsfield Unit (HU) threshold for patient contour generation and workflow evaluation via end-to-end (E2E) positioning using a custom breast DIBH phantom. After localisation via existing Image Guidance (IG), stereoscopic imaging was performed with a range of parameters to determine best agreement. Similarly, residual errors in prepositioning were minimised using a range of HU threshold contours. E2E positioning was completed for clinical workflows allowing residual isocentre position error measurement and existing IG comparison. Parameters of 60 kV and 25mAs were determined appropriate for patient imaging and HU thresholds between −600 HU and −200 HU enabled adequate prepositioning. The average and standard deviation in residual isocentre position error was 1.0 ± 0.9 mm, 0.4 ± 1.0 mm and 0.1 ± 0.5 mm in the lateral, longitudinal and vertical directions, respectively. Errors measured using existing IG were −0.6 ± 1.1 mm, 0.5 ± 0.7 mm and 0.2 ± 0.4 mm in the lateral, longitudinal and vertical directions, and 0.0 ± 1.0o, 0.5 ± 1.7o and −0.8 ± 1.8o for pitch roll and yaw. The use of bone weighted matching increased residual error, while simulated reduction of DIBH volume maintained isocentre positioning accuracy despite anatomical changes. This initial testing indicated suitability for clinical implementation during DIBH breast treatments.

Development and multi-institutional validation of a convolutional neural network to detect vertebral body mis-alignments in 2D x-ray setup images.

Misalignment to the incorrect vertebral body remains a rare but serious patient safety risk in image-guided radiotherapy (IGRT). Our group has proposed that an automated image-review algorithm be inserted into the IGRT process as an interlock to detect off-by-one vertebral body errors. This study presents the development and multi-institutional validation of a convolutional neural network (CNN)-based approach for such an algorithm using patient image data from a planar stereoscopic x-ray IGRT system. X-rays and digitally reconstructed radiographs (DRRs) were collected from 429 spine radiotherapy patients (1,592 treatment fractions) treated at six institutions using a stereoscopic x-ray image guidance system. Clinically-applied, physician approved, alignments were used for true-negative, "no-error" cases. "Off-by-one vertebral body" errors were simulated by translating DRRs along the spinal column using a semi-automated method. A leave-one-institution-out approach was used to estimate model accuracy on data from unseen institutions as follows: All of the images from five of the institutions were used to train a CNN model from scratch using a fixed network architecture and hyper-parameters. The size of this training set ranged from 5,700 to 9,372 images, depending on exactly which five institutions were contributing data. The training set was randomized and split using a 75/25 split into the final training/ validation sets. X-ray/ DRR image pairs and the associated binary labels of "no-error" or "shift" were used as the model input. Model accuracy was evaluated using images from the sixth institution, which were left out of the training phase entirely. This test set ranged from 180 to 3,852 images, again depending on which institution had been left out of the training phase. The trained model was used to classify the images from the test set as either "no-error" or "shifted", and the model predictions were compared to the ground truth labels to assess the model accuracy. This process was repeated until each institution's images had been used as the testing dataset. When the six models were used to classify unseen image pairs from the institution left out during training, the resulting receiver operating characteristic area under the curve values ranged from 0.976 to 0.998. With the specificity fixed at 99%, the corresponding sensitivities ranged from 61.9% to 99.2% (mean: 77.6%). With the specificity fixed at 95%, sensitivities ranged from 85.5% to 99.8% (mean: 92.9%). This study demonstrated the CNN-based vertebral body misalignment model is robust when applied to previously unseen test data from an outside institution, indicating that this proposed additional safeguard against misalignment is feasible. This article is protected by copyright. All rights reserved.

Feasibility of artificial-intelligence-based synthetic computed tomography in a magnetic resonance-only radiotherapy workflow for brain radiotherapy: Two-way dose validation and 2D/2D kV-image-based positioning.

Magnetic Resonance Imaging (MRI)-only workflow eliminates the MRI-computed tomography (CT) registration inaccuracy, which degrades radiotherapy (RT) treatment accuracy. For an MRI-only workflow MRI sequences need to be converted to synthetic-CT (sCT). The purpose of this study was to evaluate a commercially available artificial intelligence (AI)-based sCT generation for dose calculation and 2D/2D kV-image daily positioning for brain RT workflow. T1-VIBE DIXON was acquired at the 1.5 T MRI for 26 patients in RT setup for sCTs generation. For each patient, a volumetric modulated arc therapy (VMAT) plan was optimized on the CT, then recalculated on the sCT; and vice versa. sCT-based digitally reconstructed radiographs (DRRs) were fused with stereoscopic X-ray images recorded as image guidance for clinical treatments. Dosimetric differences between planned/recalculated doses and the differences between the calculated and recorded clinical couch shift/rotation were evaluated. Mean ΔD50 between planned/recalculated doses for target volumes ranged between -0.2 % and 0.2 %; mean ΔD50 and ΔD0.01ccm were -0.6 % and 1.6 % and -1.4 % and 1.0 % for organ-at-risks, respectively. Differences were tested for clinical equivalence using intervals ±2 % (dose), ±1mm (translation), and ±1° (rotation). Dose equivalence was found using ±2 % interval (p < 0.001). The median differences between lat./long./vert. couch shift between CT-based/sCT-based DRRs were 0.3 mm/0.2 mm/0.3 mm (p < 0.05); median differences between lat./long./vert. couch rotation were -1.5°/0.1°/0.1° (after improvement of RT setup: -0.4°/-0.1°/-0.4°, p < 0.05). This in-silico study showed that the AI-based sCT provided equivalent results to the CT for dose calculation and daily stereoscopic X-ray positioning when using an optimal RT setup during MRI acquisition.

ExacTrac Dynamic workflow evaluation: Combined surface optical/thermal imaging and X-ray positioning.

In modern radiotherapy (RT), especially for stereotactic radiotherapy or stereotactic radiosurgery treatments, image guidance is essential. Recently, the ExacTrac Dynamic (EXTD) system, a new combined surface‐guided RT and image‐guided RT (IGRT) system for patient positioning, monitoring, and tumor targeting, was introduced in clinical practice. The purpose of this study was to provide more information about the geometric accuracy of EXTD and its workflow in a clinical environment. The surface optical/thermal‐ and the stereoscopic X‐ray imaging positioning systems of EXTD was evaluated and compared to cone‐beam computed tomography (CBCT). Additionally, the congruence with the radiation isocenter was tested. A Winston Lutz test was executed several times over 1 year, and repeated end‐to‐end positioning tests were performed. The magnitude of the displacements between all systems, CBCT, stereoscopic X‐ray, optical‐surface imaging, and MV portal imaging was within the submillimeter range, suggesting that the image guidance provided by EXTD is accurate at any couch angle. Additionally, results from the evaluation of 14 patients with intracranial tumors treated with open‐face masks are reported, and limited differences with a maximum of 0.02 mm between optical/thermal‐ and stereoscopic X‐ray imaging were found. As the optical/thermal positioning system showed a comparable accuracy to other IGRT systems, and due to its constant monitoring capability, it can be an efficient tool for detecting intra‐fractional motion and for real‐time tracking of the surface position during RT.

Intrafractional monitoring of patients using four different immobilization mask systems for cranial radiotherapy.

Background and purposePatients receiving cranial radiotherapy are immobilized with a thermoplastic mask to restrict patient motion. Depending on the target volume margins and treatment dose, different mask systems are used. Intrafractional movements can be monitored using stereoscopic X-ray imaging. The aim of the present work was to compare the magnitudes of intrafractional deviation for different mask systems.Material and methodsFour different head mask systems (open face mask, open mask, stereotactic mask, double mask) used in the treatment of 40 patients were investigated. In total 487 treatment fractions and 3708 X-ray images were collected. Deviations were calculated by comparison of the acquired X-ray images with digitally reconstructed radiographs. The results of intrafractional X-ray deviations for translational and rotational axes were compared between the different mask systems.ResultsDeviations were below 0.6 mm for translations and below 0.6° for rotations for all mask systems. Along the lateral and longitudinal directions the stereotactic mask was superior, while along the vertical direction the double mask showed the lowest deviations. For low rotational deviations the double mask is the best amongst all other mask systems.ConclusionAs expected, the lowest movement was shown using cranial stereotactic mask systems. The results have shown deviations lower than 0.6 mm and 0.6° using any of the four thermoplastic mask systems.

Single-isocenter stereotactic radiosurgery for multiple brain metastases: Impact of patient misalignments on target coverage in non-coplanar treatments

Frameless single-isocenter non-coplanar stereotactic radiosurgery (SRS) for patients with multiple brain metastases is a treatment at high geometrical complexity. The goal of this study is to analyze the dosimetric impact of non-coplanar image guidance with stereoscopic X-ray imaging. Such an analysis is meant to provide insights on the adequacy of safety margins, and to evaluate the benefit of imaging at non-coplanar configurations.The ExacTrac® (ET) system (Brainlab AG, Munich, Germany) was used for stereoscopic X-ray imaging in frameless single-isocenter non-coplanar SRS for multiple brain metastases. Sub-millimeter precision was found for the ET-based pre-treatment setup, whereas a degradation was noted for non-coplanar treatment angles. Misalignments without intra-fractional positioning corrections were reconstructed in 6 degrees of freedom (DoF) to resemble the situation without non-coplanar image guidance.Dose recalculation in 20 SRS patients with applied positioning corrections did not reveal any significant differences in D98% for 75 planning target volumes (PTVs) and gross tumor volumes (GTVs). For recalculation without applied positioning corrections, significant differences (p<0.05) were reported in D98% for both PTVs and GTVs, with stronger effects for small PTV volumes. A worst-case analysis at increasing translational and rotational misalignment revealed that dosimetric changes are a complex function of the combination thereof.This study highlighted the important role of positioning correction with ET at non-coplanar configurations in frameless single-isocenter non-coplanar SRS for patients with multiple brain metastases. Uncorrected patient misalignments at non-coplanar couch angles were linked to a significant loss of PTV coverage, with effects varying according to the combination of single DoF and PTV geometrical properties.

End to end comparison of surface-guided imaging versus stereoscopic X-rays for the SRS treatment of multiple metastases with a single isocenter using 3D anthropomorphic gel phantoms.

IntroductionTwo end‐to‐end tests evaluate the accuracy of a surface‐guided radiation therapy (SGRT) system (CRAD Catalyst HD) for position verification in comparison to a stereoscopic x‐ray imaging system (Brainlab Exactrac ) for single‐isocenter, multiple metastases stereotactic radiosurgery (SRS) using 3D polymer gel inserts.Materials and methodsA 3D‐printed phantom (Prime phantom, RTsafe PC, Athens, Greece) with two separate cylindrical polymer gel inserts were immobilized in open‐face masks and treated with a single isocentric, multitarget SRS plan. Planning was done in Brainlab (Elements) to treat five metastatic lesions in one fraction, and initial setup was done using cone beam computed tomography. Positional verification was done using orthogonal X‐ray imaging (Brainlab Exactrac) and/or a surface imaging system (CRAD Catalyst HD, Uppsala, Sweden), and shift discrepancies were recorded for each couch angle. Forty‐two hours after irradiation, the gel phantom was scanned in a 1.5 Tesla MRI, and images were fused with the patient computed tomography data/structure set for further analysis of spatial dose distribution.ResultsDiscrepancies between the CRAD Catalyst HD system and Brainlab Exactrac were <1 mm in the translational direction and <0.5° in the angular direction at noncoplanar couch angles. Dose parameters (D Mean% , D 95%) and 3D gamma index passing rates were evaluated for both setup modalities for each planned target volume (PTV) at a variety of thresholds: 3%/2 mm (Exactrac≥93.1% and CRAD ≥87.2%), 5%/2 mm (Exactrac≥95.6% and CRAD ≥94.6%), and 5%/1 mm (Exactrac≥81.8% and CRAD ≥83.7%).ConclusionDose metrics for a setup with surface imaging was found to be consistent with setup using x‐ray imaging, demonstrating high accuracy and reproducibility for treatment delivery. Results indicate the feasibility of using surface imaging for position verification at noncoplanar couch angles for single‐isocenter, multiple‐target SRS using end‐to‐end quality assurance (QA) testing with 3D polymer gel dosimetry.

Patient specific methods for room-mounted x-ray imagers for monoscopic/stereoscopic prostate motion monitoring.

PurposeTo investigate the improvement of combined monoscopic/stereoscopic prostate motion monitoring with room‐mounted dual x‐ray systems by adopting patient specific methods.MethodsThe linac couch was used as a motion stage to simulate 40 highly dynamic real patient prostate trajectories. For each trajectory, 40 s pretreatment and 120 s treatment periods were extracted to represent a typical treatment fraction. Motion was monitored via continuous stereoscopic x‐ray imaging of a single gold fiducial and images were retrospectively divided into periods of stereoscopic and monoscopic imaging to simulate periodic blocking of the room‐mounted system by the gantry during arc‐based therapy. The accuracy of the combined motion monitoring was assessed by comparison with the linac couch log files. To estimate 3‐D marker position during monoscopic imaging, the use of population statistics was compared to both maximum likelihood estimation and stereoscopic localization based estimation of individualized prostate probability density functions (PDFs) from the pretreatment period. The inclusion of intrafraction updating was compared to pretreatment initialization alone.ResultsCombined mono/stereoscopic localization was successfully implemented. During the transitions from stereoscopic to monoscopic imaging, fiducial localization exhibits sharp discontinuities when population PDFs were employed. Patient specific PDFs successfully reduced the localization error when estimated from stereoscopic localizations, whereas maximum likelihood estimation (MLE) was too unstable in the room‐mounted geometry. Intrafraction stereoscopic updating provided further increases in accuracy. Residual error tended to decrease throughout the treatment fraction, as the patient‐specific PDFs became more refined.ConclusionsThis is the first demonstration of toggled monoscopic/stereoscopic localization using room‐mounted dual x‐ray imagers, enabling continuous intrafraction motion monitoring for these systems. We showed that both pretreatment individualization and intrafraction updating should be used to provide the most accurate motion monitoring.

Optimizing dual-energy x-ray parameters for the ExacTrac clinical stereoscopic imaging system to enhance soft-tissue imaging.

Stereoscopic x-ray image guided radiotherapy for lung tumors is often hindered by bone overlap and limited soft-tissue contrast. This study aims to evaluate the feasibility of dual-energy imaging techniques and to optimize parameters of the ExacTrac stereoscopic imaging system to enhance soft-tissue imaging for application to lung stereotactic body radiation therapy. Simulated spectra and a physical lung phantom were used to optimize filter material, thickness, tube potentials, and weighting factors to obtain bone subtracted dual-energy images. Spektr simulations were used to identify material in the atomic number range (3-83) based on a metric defined to separate spectra of high and low-energies. Both energies used the same filter due to time constraints of imaging in the presence of respiratory motion. The lung phantom contained bone, soft tissue, and tumor mimicking materials, and it was imaged with a filter thickness in the range of (0-0.7) mm and a kVp range of (60-80) for low energy and (120,140) for high energy. Optimal dual-energy weighting factors were obtained when the bone to soft-tissue contrast-to-noise ratio (CNR) was minimized. Optimal filter thickness and tube potential were achieved by maximizing tumor-to-background CNR. Using the optimized parameters, dual-energy images of an anthropomorphic Rando phantom with a spherical tumor mimicking material inserted in his lung were acquired and evaluated for bone subtraction and tumor contrast. Imaging dose was measured using the dual-energy technique with and without beam filtration and matched to that of a clinical conventional single energy technique. Tin was the material of choice for beam filtering providing the best energy separation, non-toxicity, and non-reactiveness. The best soft-tissue-weighted image in the lung phantom was obtained using 0.2 mm tin and (140, 60) kVp pair. Dual-energy images of the Rando phantom with the tin filter had noticeable improvement in bone elimination, tumor contrast, and noise content when compared to dual-energy imaging with no filtration. The surface dose was 0.52 mGy per each stereoscopic view for both clinical single energy technique and the dual-energy technique in both cases of with and without the tin filter. Dual-energy soft-tissue imaging is feasible without additional imaging dose using the ExacTrac stereoscopic imaging system with optimized acquisition parameters and no beam filtration. Addition of a single tin filter for both the high and low energies has noticeable improvements on dual-energy imaging with optimized parameters. Clinical implementation of a dual-energy technique on ExacTrac stereoscopic imaging could improve lung tumor visibility.

Stereoscopic X-ray imaging, cone beam CT, and couch positioning in stereotactic radiotherapy of intracranial tumors: preliminary results from a cross-modality pilot installation.

BackgroundTo assess the accuracy and precision of a fully integrated pilot installation of stereoscopic X-ray imaging and kV-CBCT for automatic couch positioning in stereotactic radiotherapy of intracranial tumors. Positioning errors as detected by stereoscopic X-ray imaging are compared to those by kV-CBCT (i.e. the accuracy of the new method is verified by the established method), and repeated X-ray images are compared (i.e. the precision of new method is determined intra-modally).MethodsPreliminary results are reported from a study with 32 patients with intracranial tumors. Patients were treated with stereotactic radiotherapy guided by stereoscopic X-ray imaging and kV-CBCT. Patient positioning was automatically corrected by a robotic couch. Cross-modal discrepancies in position detection were measured (N = 42). Intra-modal improvements after correction and re-verification by stereoscopic X-ray imaging were measured (N = 70). The accuracy and precision of stereoscopic X-ray imaging and the accuracy and precision of CBCT were confirmed in phantom measurements (N = 12 shifts of a ball bearing phantom, N = 24 shifts of a head phantom).ResultsAfter correction based on stereoscopic X-ray imaging 95% of residual mean errors were below 0.4, 0.4, 0.5, and 0.7 mm (lateral, longitudinal, vertical, radial, respectively). Stereoscopic X-ray imaging and CBCT were in close agreement with an average discrepancy of 0.1, 0.5, 0.3 and 0.8 mm, respectively. 95% of discrepancies were below 0.8, 1.2, 1.0, and 1.4 mm, respectively. After correction and re-verification by stereoscopic X-ray imaging, the remaining intra-modal residual error was consistent with zero (p = 0.31, p = 0.48, p = 0.81 in lateral, longitudinal, and vertical direction; p-values from two-tailed t-test). The inherent technical accuracy and precision of stereoscopic X-ray imaging and the accuracy and precision of CBCT were found to be of the order of 0.1 mm in controlled phantom settings.ConclusionsIn a routine clinical setting, both stereoscopic X-ray imaging and CBCT were able to reduce positioning errors by an order of magnitude. The end-to-end precision of the system, measured from the discrepancy (mean) between ExacTrac and CBCT, in a clinical setting seems to be about 0.8 mm radially, including couch positioning. The precision (measured from repeatability of ExacTrac, intra-modal) was found to be about 0.7 mm radially in a clinical setting.

A Study on Stereoscopic X-ray Imaging Data Set on the Accuracy of Real-Time Tumor Tracking in External Beam Radiotherapy.

At external beam radiotherapy, stereoscopic X-ray imaging system is responsible as tumor motion information provider. This system takes X-ray images intermittently from tumor position (1) at pretreatment step to provide training data set for model construction and (2) during treatment to control the accuracy of correlation model performance. In this work, we investigated the effect of imaging data points provided by this system on treatment quality. Because some information is still lacking about (1) the number of imaging data points, (2) shooting time for capturing each data point, and also (3) additional imaging dose delivered by this system. These 3 issues were comprehensively assessed at (1) pretreatment step while training data set is gathered for prediction model construction and (2) during treatment while model is tested and reconstructed using new arrival data points. A group of real patients treated with CyberKnife Synchrony module was chosen in this work, and an adaptive neuro-fuzzy inference system was considered as consistent correlation model. Results show that a proper model can be constructed while the number of imaging data points is highly enough to represent a good pattern of breathing cycles. Moreover, a trade-off between the number of imaging data points and additional imaging dose is considered in this study. Since breathing phenomena are highly variable at different patients, the time for taking some of imaging data points is very important, while their absence at that critical time may yield wrong tumor tracking. In contrast, the sensitivity of another category of imaging data points is not high, while breathing is normal and in the control range. Therefore, an adaptive supervision on the implementation of stereoscopic X-ray imaging is proposed to intelligently accomplish shooting process, based on breathing motion variations.

Observation of intrafraction prostate displacement through the course of conventionally fractionated radiotherapy for prostate cancer

Intrafraction prostate displacement (IFPD) through the course of conventionally fractionated radiotherapy was observed by real-time tracking. IFPD was observed by using a CyberKnife real-time tracking system over 39 serial fractions in two patients. Stereoscopic X-ray images tracking the implanted fiducial markers were obtained with mean intervals of 58 s. In preparation for treatment, urination was performed routinely 1 h before treatment and rectal gas was evacuated if necessary. Patients were immobilized by a thermoplastic body shell. The maximal absolute values of IFPD in all 78 fractions were 7.9, 2.1, and 11.5 mm in cranio-caudal (CC), left-right (LR), and antero-posterior (AP) direction, respectively. Only in 5 % of fractions (4/78 fractions), the maximal absolute values of IFPD were 5.0 mm or larger. In these fractions, large IFPD was temporary or persistent. IFPD of ≥3 mm was detected in only ~2-3 % of all obtained tracking images. Daily maximal IFPD changed day by day. Although maximal IFPD was more than 10 mm, IFPD of ≥3 mm was observed in a comparatively small proportion of treatment time. Through the course of conventionally fractionated radiotherapy, fractions with IFPD of ≥5 mm were infrequent.

Feasibility study of dual energy radiographic imaging for target localization in radiotherapy for lung tumors.

PurposeDual-energy (DE) radiographic imaging improves tissue discrimination by separating soft from hard tissues in the acquired images. This study was to establish a mathematic model of DE imaging based on intrinsic properties of tissues and quantitatively evaluate the feasibility of applying the DE imaging technique to tumor localization in radiotherapy.MethodsWe investigated the dependence of DE image quality on the radiological equivalent path length (EPL) of tissues with two phantoms using a stereoscopic x-ray imaging unit. 10 lung cancer patients who underwent radiotherapy each with gold markers implanted in the tumor were enrolled in the study approved by the hospital's Ethics Committee. The displacements of the centroids of the delineated gross tumor volumes (GTVs) in the digitally reconstructed radiograph (DRR) and in the bone-canceled DE image were compared with the averaged displacements of the centroids of gold markers to evaluate the feasibility of using DE imaging for tumor localization.ResultsThe results of the phantom study indicated that the contrast-to-noise ratio (CNR) was linearly dependent on the difference of EPL and a mathematical model was established. The objects and backgrounds corresponding to ΔEPL less than 0.08 are visually indistinguishable in the bone-canceled DE image. The analysis of patient data showed that the tumor contrast in the bone-canceled images was improved significantly as compared with that in the original radiographic images and the accuracy of tumor localization using the DE imaging technique was comparable with that of using fiducial makers.ConclusionIt is feasible to apply the technique for tumor localization in radiotherapy.

Assessment of Breast Motion During Hypofractionated Robotic Radiation Therapy

Accounting for intrafraction motion is a critical element of breast radiation therapy to determine the treatment margin during partial breast irradiation and to reduce the toxicity to nearby critical structures such as heart, lung and ribs. Breast motion can be monitored using various methodologies, including optical or infrared tracking of individual markers placed on a patient's surface and 3D-video based optical surface imaging. Several institutions including our own have also employed implanted fiducial tracking using stereoscopic x-ray imaging on a robotic linac, using a module specifically designed to compensate for respiration induced tumor motion.

Frameless radiosurgery: Less invasive, more accurate

Purpose Stereotactic radiosurgery using frame-based positioning is a well-established technique for treatment of benign and malignant lesions. By contrast, a new trend towards frameless systems using image-guided techniques is gaining acceptance. This study was designed to compare the overall accuracy of frameless with framebased radiosurgery, to evaluate immobilization characteristics (i.e. intrafraction motion) of a frameless mask device to invasive fixation (frame-based technique) and to evaluate if verification images during radiosurgery treatment can correct for mechanical inaccuracy of table rotations and intrafraction motion. Materials and methods Multiple hidden target tests (HTT) were performed to measure the overall accuracy of the two positioning techniques for radiosurgery (i.e. frameless using stereoscopic X-ray imaging and 6-degree-of-freedom (DOF) registration/positioning and frame-based using invasive ring and localizer box) and to measure the overall accuracy at different table rotations with and without 6 DOF registration/positioning. Forty patients with 66 brain metastases were enrolled for frameless radiosurgery using 6 DOF registration/positioning. Positioning results were collected before and after treatment to assess intrafraction motion. Obtained data was benchmarked to literature for comparison with frame-based technique. Sixteen trigeminal-neuralgia patients were enrolled to assess positioning errors after every table position. Stereoscopic verification images and 6 DOF registration/positioning were performed and analyzed after each table rotation. Results HTT showed overall three-dimensional (3D) accuracy of 0.76 mm (SD0.46 mm) for the frameless technique, 0.87 mm (SD0.44 mm) for the frame-based technique for table positions at 0°. Rotating the couch to 90° and 270°, showed deviations of 0.83 mm (SD0.34 mm) and 0.62 mm (SD0.16 mm), respectively, if uncorrected. These deviations were reduced to 0.04 mm (SD0.03 mm) and 0.06 mm (SD0.04 mm) by image-guided corrections at 90° and 270°. The mean 3D intrafraction shift was 0.58 (SD0.42 mm) and comparable to frame-based techniques. By applying verification images during treatment (every 4.6 min SD 2.3 min), the mean 3D intrafraction shift decreased to 0.51 mm (SD0.13 mm). Conclusions With proper immobilization and X-ray verification images during treatment, frameless radiosurgery can be delivered as accurate as the frame-based approach with comparable immobilization characteristics to the invasive head ring and can be considered to be a reliable alternative for radiosurgery treatments. Stereotactic radiosurgery using frame-based positioning is a well-established technique for treatment of benign and malignant lesions. By contrast, a new trend towards frameless systems using image-guided techniques is gaining acceptance. This study was designed to compare the overall accuracy of frameless with framebased radiosurgery, to evaluate immobilization characteristics (i.e. intrafraction motion) of a frameless mask device to invasive fixation (frame-based technique) and to evaluate if verification images during radiosurgery treatment can correct for mechanical inaccuracy of table rotations and intrafraction motion. Multiple hidden target tests (HTT) were performed to measure the overall accuracy of the two positioning techniques for radiosurgery (i.e. frameless using stereoscopic X-ray imaging and 6-degree-of-freedom (DOF) registration/positioning and frame-based using invasive ring and localizer box) and to measure the overall accuracy at different table rotations with and without 6 DOF registration/positioning. Forty patients with 66 brain metastases were enrolled for frameless radiosurgery using 6 DOF registration/positioning. Positioning results were collected before and after treatment to assess intrafraction motion. Obtained data was benchmarked to literature for comparison with frame-based technique. Sixteen trigeminal-neuralgia patients were enrolled to assess positioning errors after every table position. Stereoscopic verification images and 6 DOF registration/positioning were performed and analyzed after each table rotation. HTT showed overall three-dimensional (3D) accuracy of 0.76 mm (SD0.46 mm) for the frameless technique, 0.87 mm (SD0.44 mm) for the frame-based technique for table positions at 0°. Rotating the couch to 90° and 270°, showed deviations of 0.83 mm (SD0.34 mm) and 0.62 mm (SD0.16 mm), respectively, if uncorrected. These deviations were reduced to 0.04 mm (SD0.03 mm) and 0.06 mm (SD0.04 mm) by image-guided corrections at 90° and 270°. The mean 3D intrafraction shift was 0.58 (SD0.42 mm) and comparable to frame-based techniques. By applying verification images during treatment (every 4.6 min SD 2.3 min), the mean 3D intrafraction shift decreased to 0.51 mm (SD0.13 mm). With proper immobilization and X-ray verification images during treatment, frameless radiosurgery can be delivered as accurate as the frame-based approach with comparable immobilization characteristics to the invasive head ring and can be considered to be a reliable alternative for radiosurgery treatments.

Tissue feature-based intra-fractional motion tracking for stereoscopic x-ray image guided radiotherapy

Real-time knowledge of tumor position during radiation therapy is essential to overcome the adverse effect of intra-fractional organ motion. The goal of this work is to develop a tumor tracking strategy by effectively utilizing the inherent image features of stereoscopic x-ray images acquired during dose delivery. In stereoscopic x-ray image guided radiation delivery, two orthogonal x-ray images are acquired either simultaneously or sequentially. The essence of markerless tumor tracking is the reliable identification of inherent points with distinct tissue features on each projection image and their association between two images. The identification of the feature points on a planar x-ray image is realized by searching for points with high intensity gradient. The feature points are associated by using the scale invariance features transform descriptor. The performance of the proposed technique is evaluated by using images of a motion phantom and four archived clinical cases acquired using either a CyberKnife equipped with a stereoscopic x-ray imaging system, or a LINAC equipped with an onboard kV imager and an electronic portal imaging device. In the phantom study, the results obtained using the proposed method agree with the measurements to within 2 mm in all three directions. In the clinical study, the mean error is 0.48 ± 0.46 mm for four patient data with 144 sequential images. In this work, a tissue feature-based tracking method for stereoscopic x-ray image guided radiation therapy is developed. The technique avoids the invasive procedure of fiducial implantation and may greatly facilitate the clinical workflow.

SU-E-J-45: Validation of the ExacTrac Virtual Isocenter Based Target Localization Method.

With no stable landmarks available for localization, a 'virtual isocenter' "'or surrogate landmark near the target'" can be used for image guidance. However, using a virtual isocenter in ExacTrac has not been thoroughly validated. This study evaluates its target localization accuracy and investigates the impact of two different couch correction sequences. A CT scan was acquired on an anthropomorphic thoracic phantom with a 2mm-diameter ball bearing (BB) marker implanted in thelung region. A treatment plan was created with isocenter placed at the BB center, and exported to ExacTrac. In ExacTrac, a virtual isocenter wasplaced on a spine vertebral body where three translational shifts (8.8cm laterally, 1.5cm longitudinally and 6cm vertically) were present. A series ofcouch rotations (+/-3 degrees, 1 degree increment) was intentionally applied to simulate angular setup variations. For each rotation, two stereoscopic x-rayimages were acquired and fused using the ExacTrac 6D registrationalgorithm. Calculated shifts were applied using two sequences: (1)automatic 5D corrections (three translations/two robotic couch rotations) followed by manual couch rotation; (2) manual couch rotation then automatic 5D corrections. After each ExacTrac localization, orthogonal (anterior-posterior and right-lateral) portal images were acquired to quantify BB center deviations from the radiation isocenter as an indicator of residual error. Minimal difference between investigated table correction sequences was observed. Average translational deviations between the BB and radiation isocenter (mean+/-1SD) were 0.3+/-0.3mm and 1.0+/-0.2mm for lateral and vertical axis respectively. Longitudinally, the deviations were 0.8+/-0.4mm from the anterior-posterior image and 0.1+/-0.3mm from the right-lateral image. The systematic difference (0.7+/-0.1 mm) between thetwo may have been attributed to gantry sagging during rotation. ExacTrac system successfully corrected angular shifts using the virtual isocenter method in a rigid phantom setup. The sequence ofcouch correction did not influence the localization accuracy. Further patient study is warranted.