Automated detection of vertebral body misalignments in orthogonal kV and MV guided radiotherapy: application to a comprehensive retrospective dataset.

Objective. In image-guided radiotherapy (IGRT), off-by-one vertebral body misalignments are rare but potentially catastrophic. In this study, a novel detection method for such misalignments in IGRT was investigated using densely-connected convolutional networks (DenseNets) for applications towards real-time error prevention and retrospective error auditing.Approach. A total of 4213 images acquired from 527 radiotherapy patients aligned with planar kV or MV radiographs were used to develop and test error-detection software modules. Digitally reconstructed radiographs (DRRs) and setup images were retrieved and co-registered according to the clinically applied alignment contained in the DICOM REG files. A semi-automated algorithm was developed to simulate patient positioning errors on the anterior-posterior (AP) and lateral (LAT) images shifted by one vertebral body. A DenseNet architecture was designed to classify either AP images individually or AP and LAT image pairs. Receiver-operator characteristic curves (ROC) and areas under the curves (AUC) were computed to evaluate the classifiers on test subsets. Subsequently, the algorithm was applied to the entire dataset in order to retrospectively determine the absolute off-by-one vertebral body error rate for planar radiograph guided RT at our institution from 2011-2021.Main results. The AUCs for the kV models were 0.98 for unpaired AP and 0.99 for paired AP-LAT. The AUC for the MV AP model was 0.92. For a specificity of 95%, the paired kV model achieved a sensitivity of 99%. Application of the model to the entire dataset yielded a per-fraction off-by-one vertebral body error rate of 0.044% [0.0022%, 0.21%] for paired kV IGRT including one previously unreported error.Significance. Our error detection algorithm was successful in classifying vertebral body positioning errors with sufficient accuracy for retrospective quality control and real-time error prevention. The reported positioning error rate for planar radiograph IGRT is unique in being determined independently of an error reporting system.

Development and interinstitutional validation of an automatic vertebral-body misalignment error detector for cone-beam CT-guided radiotherapy.

BACKGROUND: In cone-beam computed tomography (CBCT)-guided radiotherapy, off-by-one vertebral-body misalignments are rare but serious errors that lead to wrong-site treatments. PURPOSE: An automatic error detection algorithm was developed that uses a three-branch convolutional neural network error detection model (EDM) to detect off-by-one vertebral-body misalignments using planning computed tomography (CT) images and setup CBCT images. METHODS: Algorithm training and test data consisted of planning CTs and CBCTs from 480 patients undergoing radiotherapy treatment in the thoracic and abdominal regions at two radiotherapy clinics. The clinically applied registration was used to derive true-negative (no error) data. The setup and planning images were then misaligned by one vertebral-body in both the superior and inferior directions, simulating the most likely misalignment scenarios. For each of the aligned and misaligned 3D image pairs, 2D slice pairs were automatically extracted in each anatomical plane about a point within the vertebral column. The three slice pairs obtained were then inputted to the EDM that returned a probability of vertebral misalignment. One model (EDM1 ) was trained solely on data from institution 1. EDM1 was further trained using a lower learning rate on a dataset from institution 2 to produce a fine-tuned model, EDM2 . Another model, EDM3 , was trained from scratch using a training dataset composed of data from both institutions. These three models were validated on a randomly selected and unseen dataset composed of images from both institutions, for a total of 303 image pairs. The model performances were quantified using a receiver operating characteristic analysis. Due to the rarity of vertebral-body misalignments in the clinic, a minimum threshold value yielding a specificity of at least 99% was selected. Using this threshold, the sensitivity was calculated for each model, on each institution's test set separately. RESULTS: When applied to the combined test set, EDM1 , EDM2 , and EDM3 resulted in an area under curve of 99.5%, 99.4%, and 99.5%, respectively. EDM1 achieved a sensitivity of 96% and 88% on Institution 1 and Institution 2 test set, respectively. EDM2 obtained a sensitivity of 95% on each institution's test set. EDM3 achieved a sensitivity of 95% and 88% on Institution 1 and Institution 2 test set, respectively. CONCLUSION: The proposed algorithm demonstrated accuracy in identifying off-by-one vertebral-body misalignments in CBCT-guided radiotherapy that was sufficiently high to allow for practical implementation. It was found that fine-tuning the model on a multi-facility dataset can further enhance the generalizability of the algorithm.

Dosimetric evaluation of respiratory gating on a 0.35-T magnetic resonance-guided radiotherapy linac.

PURPOSE: The commercial 0.35-T magnetic resonance imaging (MRI)-guided radiotherapy vendor ViewRay recently introduced upgraded real-time imaging frame rates based on compressed sensing techniques. Furthermore, additional motion tracking algorithms were made available. Compressed sensing allows for increased image frame rates but may compromise image quality. To assess the impact of this upgrade on respiratory gating accuracy, we evaluated gated dose distributions pre- and post-upgrade using a motion phantom and radiochromic film. METHODS: Seven motion waveforms (four artificial, two patient-derived free-breathing, and one breath-holding) were used to drive an MRI-compatible motion phantom. A treatment plan was developed to deliver a 3-cm diameter spherical dose distribution typical of a stereotactic body radiotherapy plan. Gating was performed using 4-frames per second (fps) imaging pre-upgrade on the "default" tracking algorithm and 8-fps post-upgrade using the "small mobile targets" (SMT) and "large deforming targets" (LDT) tracking algorithms. Radiochromic film was placed in a moving insert within the phantom to measure dose. The planned and delivered dose distributions were compared using the gamma index with 3%/3-mm criteria. Dose-area histograms were produced to calculate the dose to 95% (D95) of the sphere planning target volume (PTV) and two simulated gross tumor volumes formed by contracting the PTV by 3 and 5 mm, respectively. RESULTS: Gamma pass rates ranged from 18% to 93% over the 21 combinations of breathing trace and gating conditions examined. D95 ranged from 206 to 514 cGy. On average, the LDT algorithm yielded lower gamma and D95 values than the default and SMT algorithms. CONCLUSION: Respiratory gating at 8 fps with the new tracking algorithms provides similar gating performance to the original algorithm with 4 fps, although the LDT algorithm had lower accuracy for our non-deformable target. This indicates that the choice of deformable image registration algorithm should be chosen deliberately based on whether the target is rigid or deforming.

Offline generator for digitally reconstructed radiographs of a commercial stereoscopic radiotherapy image-guidance system.

PURPOSE: Image-guided radiotherapy (IGRT) research sometimes involves simulated changes to patient positioning using retrospectively collected clinical data. For example, researchers may simulate patient misalignments to develop error detection algorithms or positioning optimization algorithms. The Brainlab ExacTrac system can be used to retrospectively "replay" simulated alignment scenarios but does not allow export of digitally reconstructed radiographs (DRRs) with simulated positioning variations for further analysis. Here we describe methods to overcome this limitation and replicate ExacTrac system DRRs by using projective geometry parameters contained in the ExacTrac configuration files saved for every imaged subject. METHODS: Two ExacTrac DRR generators were implemented, one with custom MATLAB software based on first principles, and the other using libraries from the Insight Segmentation and Registration Toolkit (ITK). A description of perspective projections for DRR rendering applications is included, with emphasis on linear operators in real projective space P 3 ${\mathbb{P}^3}$ . We provide a general methodology for the extraction of relevant geometric values needed to replicate ExacTrac DRRs. Our generators were tested on phantom and patient images, both acquired in a known treatment position. We demonstrate the validity of our methods by comparing our generated DRRs to reference DRRs produced by the ExacTrac system during a treatment workflow using a manual landmark analysis as well as rigid registration with the elastix software package. RESULTS: Manual landmarks selected between the corresponding DRR generators across patient and phantom images have an average displacement of 1.15 mm. For elastix image registrations, we found that absolute value vertical and horizontal translations were 0.18 and 0.35 mm on average, respectively. Rigid rotations were within 0.002 degrees. CONCLUSION: Custom and ITK-based algorithms successfully reproduce ExacTrac DRRs and have the distinctive advantage of incorporating any desired 6D couch position. An open-source repository is provided separately for users to implement in IGRT patient positioning research.