Geometric accuracy of a real-time target tracking system with dynamic multileaf collimator tracking system.

PURPOSE: Dynamically compensating for target motion during radiotherapy will increase treatment accuracy. A laboratory system for real-time target tracking with a dynamic MLC has been developed. In this study, the geometric accuracy limits of this DMLC target tracking system were evaluated. METHODS AND MATERIALS: A motion simulator was programmed to follow patient-derived tumor motion paths, parallel to the leaf motion direction. A target attached to the simulator was optically tracked, and the leaf positions adjusted to continually align the DMLC beam aperture to the target. Analysis of the tracking accuracy was based on video images of the target and beam alignment. The system response time was determined and the tracking error measured. Response time-corrected tracking accuracy was also calculated to investigate the accuracy limits of an improved system. RESULTS: The response time of the system is 160 +/- 2 ms. The geometric precision for tracking patient motion is 0.6 to 1.1 mm (1 sigma) for the 3 patient datasets tested, with tracking errors relative to the original patient motion of 35, 40, and 100%. CONCLUSIONS: A DMLC target tracking system has been developed that can account for detected motion parallel to the leaf motion direction. The tracking error has a negligible systematic component. Reducing the response time will further increase the overall system accuracy.

Electromagnetic detection and real-time DMLC adaptation to target rotation during radiotherapy.

PURPOSE: Intrafraction rotation of more than 45° and 25° has been observed for lung and prostate tumors, respectively. Such rotation is not routinely adapted to during current radiotherapy, which may compromise tumor dose coverage. The aim of the study was to investigate the geometric and dosimetric performance of an electromagnetically guided real-time dynamic multileaf collimator (DMLC) tracking system to adapt to intrafractional tumor rotation. MATERIALS/METHODS: Target rotation was provided by changing the treatment couch angle. The target rotation was measured by a research Calypso system integrated with a real-time DMLC tracking system employed on a Varian linac. The geometric beam-target rotational alignment difference was measured using electronic portal images. The dosimetric accuracy was quantified using a two-dimensional ion chamber array. For each beam, the following five delivery modes were tested: 1) nonrotated target (reference); 2) fixed rotated target with tracking; 3) fixed rotated target without tracking; 4) actively rotating target with tracking; and 5) actively rotating target without tracking. Dosimetric performance of the latter four modes was measured and compared to the reference dose distribution using a 3 mm/3% γ-test. RESULTS: Geometrically, the beam-target rotational alignment difference was 0.3° ± 0.6° for fixed rotation and 0.3° ± 1.3° for active rotation. Dosimetrically, the average failure rate for the γ-test for a fixed rotated target was 11% with tracking and 36% without tracking. The average failure rate for an actively rotating target was 9% with tracking and 35% without tracking. CONCLUSIONS: For the first time, real-time target rotation has been accurately detected and adapted to during radiation delivery via DMLC tracking. The beam-target rotational alignment difference was mostly within 1°. Dose distributions to fixed and actively rotating targets with DMLC tracking were significantly superior to those without tracking.

Electromagnetic-guided dynamic multileaf collimator tracking enables motion management for intensity-modulated arc therapy.

PURPOSE: Intensity-modulated arc therapy (IMAT) is attractive because of high-dose conformality and efficient delivery. However, managing intrafraction motion is challenging for IMAT. The purpose of this research was to develop and investigate electromagnetically guided dynamic multileaf collimator (DMLC) tracking as an enabling technology to treat moving targets during IMAT. METHODS AND MATERIALS: A real-time three-dimensional DMLC-based target tracking system was developed and integrated with a linear accelerator. The DMLC tracking software inputs a real-time electromagnetically measured target position and the IMAT plan, and dynamically creates new leaf positions directed at the moving target. Low- and high-modulation IMAT plans were created for lung and prostate cancer cases. The IMAT plans were delivered to a three-axis motion platform programmed with measured patient motion. Dosimetric measurements were acquired by placing an ion chamber array on the moving platform. Measurements were acquired with tracking, without tracking (current clinical practice), and with the phantom in a static position (reference). Analysis of dose distribution differences from the static reference used a γ-test. RESULTS: On average, 1.6% of dose points for the lung plans and 1.2% of points for the prostate plans failed the 3-mm/3% γ-test with tracking; without tracking, 34% and 14% (respectively) of points failed the γ-test. The delivery time was the same with and without tracking. CONCLUSIONS: Electromagnetic-guided DMLC target tracking with IMAT has been investigated for the first time. Dose distributions to moving targets with DMLC tracking were significantly superior to those without tracking. There was no loss of treatment efficiency with DMLC tracking.

Real-time dynamic MLC tracking for inversely optimized arc radiotherapy.

BACKGROUND AND PURPOSE: Motion compensation with MLC tracking was tested for inversely optimized arc radiotherapy with special attention to the impact of the size of the target displacements and the angle of the leaf trajectory. MATERIALS AND METHODS: An MLC-tracking algorithm was used to adjust the MLC positions according to the target movements using information from an optical real-time positioning management system. Two plans with collimator angles of 45 degrees and 90 degrees , respectively, were delivered and measured using the Delta(4)(R) dosimetric device moving in the superior-inferior direction with peak-to-peak displacements of 5, 10, 15, 20 and 25 mm and a cycle time of 6s. RESULTS: Gamma index evaluation for plan delivery with MLC tracking gave a pass rate higher than 98% for criteria 3% and 3 mm for both plans and for all sizes of the target displacement. With no motion compensation, the average pass rate was 75% for plan 1 and 70% for plan 2 for 25 mm peak-to-peak displacement. CONCLUSION: MLC tracking improves the accuracy of inversely optimized arc delivery for the cases studied. With MLC tracking, the dosimetric accuracy was independent of the magnitude of the peak-to-peak displacement of the target and not significantly affected by the angle between the leaf trajectory and the target movements.

Toward submillimeter accuracy in the management of intrafraction motion: the integration of real-time internal position monitoring and multileaf collimator target tracking.

PURPOSE: We report on an integrated system for real-time adaptive radiation delivery to moving tumors. The system combines two promising technologies-three-dimensional internal position monitoring using implanted electromagnetically excitable transponders and corresponding real-time beam adaptation using a dynamic multileaf collimator (DMLC). METHODS AND MATERIALS: In a multi-institutional academic and industrial collaboration, a research version of the Calypso position monitoring system was integrated with a DMLC-based four-dimensional intensity-modulated radiotherapy delivery system using a Varian 120-leaf multileaf collimator (MLC). Two important determinants of system performance-latency (i.e., elapsed time between target motion and MLC response) and geometric accuracy-were investigated. Latency was quantified by acquiring continuous megavoltage X-ray images of a moving phantom (with embedded transponders) that was tracked in real time by a circular MLC field. The latency value was input into a motion prediction algorithm within the DMLC tracking system. Geometric accuracy was calculated as the root-mean-square positional error between the target and the centroid of the MLC aperture for patient-derived three-dimensional motion trajectories comprising two lung tumor traces and one prostate trace. RESULTS: System latency was determined to be approximately 220 milliseconds. Tracking accuracy was observed to be sub-2 mm for the respiratory motion traces and sub-1 mm for prostate motion. CONCLUSION: We have developed and characterized a research version of a novel four-dimensional delivery system that integrates nonionizing radiation-based internal position monitoring and accurate real-time DMLC-based beam adaptation. This system represents a significant step toward achieving the eventual goal of geometrically ideal dose delivery to moving tumors.