Comparison of a multileaf collimator tracking system and a robotic treatment couch tracking system for organ motion compensation during radiotherapy.

PURPOSE: One limitation of accurate dose delivery in radiotherapy is intrafractional movement of the tumor or the entire patient which may lead to an underdosage of the target tissue or an overdosage of adjacent organs at risk. In order to compensate for this movement, different techniques have been developed. In this study the tracking performances of a multileaf collimator (MLC) tracking system and a robotic treatment couch tracking system were compared under equal conditions. METHODS: MLC tracking was performed using a tracking system based on the Siemens 160 MLC. A HexaPOD robotic treatment couch tracking system was also installed at the same linac. A programmable 4D motion stage was used to reproduce motion trajectories with different target phantoms. Motion localization of the target was provided by the 4D tracking system of Calypso Medical Inc. The gained positional data served as input signal for the control systems of the MLC and HexaPOD tracking systems attempting to compensate for the target motion. The geometric and dosimetric accuracy for the tracking of eight different respiratory motion trajectories was investigated for both systems. The dosimetric accuracy of both systems was also evaluated for the tracking of five prostate motion trajectories. RESULTS: For the respiratory motion the average root mean square error of all trajectories in y direction was reduced from 4.1 to 2.0 mm for MLC tracking and to 2.2 mm for HexaPOD tracking. In x direction it was reduced from 1.9 to 0.9 mm (MLC) and to 1.0 mm (HexaPOD). The average 2%/2 mm gamma pass rate for the respiratory motion trajectories was increased from 76.4% for no tracking to 89.8% and 95.3% for the MLC and the HexaPOD tracking systems, respectively. For the prostate motion trajectories the average 2%/2 mm gamma pass rate was 60.1% when no tracking was applied and was improved to 85.0% for MLC tracking and 95.3% for the HexaPOD tracking system. CONCLUSIONS: Both systems clearly increased the geometric and dosimetric accuracy during tracking of respiratory motion trajectories. Thereby, the geometric accuracy was increased almost equally by both systems, whereas the dosimetric accuracy of the HexaPOD tracking system was slightly better for all considered respiratory motion trajectories. Substantial improvement of the dosimetric accuracy was also observed during tracking of prostate motion trajectories during an intensity-modulated radiotherapy plan. Thereby, the HexaPOD tracking system showed better results than the MLC tracking.

Dosimetric evaluation of intrafractional tumor motion by means of a robot driven phantom.

PURPOSE: The aim of the work was to investigate the influence of intrafractional tumor motion to the accumulated (absorbed) dose. The accumulated dose was determined by means of calculations and measurements with a robot driven motion phantom. METHODS: Different motion scenarios and compensation techniques were realized in a phantom study to investigate the influence of motion on image acquisition, dose calculation, and dose measurement. The influence of motion on the accumulated dose was calculated by employing two methods (a model based and a voxel based method). RESULTS: Tumor motion resulted in a blurring of steep dose gradients and a reduction of dose at the periphery of the target. A systematic variation of motion parameters allowed the determination of the main influence parameters on the accumulated dose. The key parameters with the greatest influence on dose were the mean amplitude and the pattern of motion. Investigations on necessary safety margins to compensate for dose reduction have shown that smaller safety margins are sufficient, if the developed concept with optimized margins (OPT concept) was used instead of the standard internal target volume (ITV) concept. Both calculation methods were a reasonable approximation of the measured dose with the voxel based method being in better agreement with the measurements. CONCLUSIONS: Further evaluation of available systems and algorithms for dose accumulation are needed to create guidelines for the verification of the accumulated dose.

Neuromuscular Diseases Affect Number Representation and Processing: An Exploratory Study.

Spinal muscular atrophy (SMA) and Duchenne muscular dystrophy (DMD) both are rare genetic neuromuscular diseases with progressive loss of motor ability. The neuromotor developmental course of those diseases is well documented. In contrast, there is only little evidence about characteristics of general and specific cognitive development. In both conditions the final motor outcome is characterized by an inability to move autonomously: children with SMA never accomplish independent motoric exploration of their environment, while children with DMD do but later lose this ability again. These profound differences in developmental pathways might affect cognitive development of SMA vs. DMD children, as cognition is shaped by individual motor experiences. DMD patients show impaired executive functions, working memory, and verbal IQ, whereas only motor ability seems to be impaired in SMA. Advanced cognitive capacity in SMA may serve as a compensatory mechanism for achieving in education, career progression, and social satisfaction. This study aimed to relate differences in basic numerical concepts and arithmetic achievement in SMA and DMD patients to differences in their motor development and resulting sensorimotor and environmental experiences. Horizontal and vertical spatial-numerical associations were explored in SMA/DMD children ranging between 6 and 12 years through the random number generation task. Furthermore, arithmetic skills as well as general cognitive ability were assessed. Groups differed in spatial number processing as well as in arithmetic and domain-general cognitive functions. Children with SMA showed no horizontal and even reversed vertical spatial-numerical associations. Children with DMD on the other hand revealed patterns in spatial numerical associations comparable to healthy developing children. From the embodied Cognition perspective, early sensorimotor experience does play a role in development of mental number representations. However, it remains open whether and how this becomes relevant for the acquisition of higher order cognitive and arithmetic skills.

Prediction of child and adolescent outcomes with broadband and narrowband dimensions of internalizing and externalizing behavior using the child and adolescent version of the Strengths and Difficulties Questionnaire.

The Strengths and Difficulties Questionnaire (SDQ) is a frequently used screening instrument for behavioral problems in children and adolescents. There is an ongoing controversy-not only in educational research-regarding the factor structure of the SDQ. Research results speak for a 3-factor as well as a 5-factor structure. The narrowband scales (5-factor structure) can be combined into broadband scales (3-factor structure). The question remains: Which factors (narrowband vs. broadband) are better predictors? With the prediction of child and adolescent outcomes (academic grades, well-being, and self-belief), we evaluated whether the broadband scales of internalizing and externalizing behavior (3-factor structure) or narrowband scales of behavior (5-factor structure) are better suited for predictive purposes in a cross-sectional study setting. The sample includes students in grades 5 to 9 (N = 4642) from the representative German Health Interview and Examination Survey for Children and Adolescents (KiGGS study). The results of model comparisons (broadband scale vs. narrowband scales) did not support the superiority of the broadband scales with regard to the prediction of child and adolescent outcomes. There is no benefit from subsuming narrowband scales (5-factor structure) into broadband scales (3-factor structure). The application of narrowband scales, providing a more differentiated picture of students' academic and social situation, was more appropriate for predictive purposes. For the purpose of identifying students at risk of struggling in educational contexts, using the set of narrowband dimensions of behavior seems to be more suitable.

Tumor tracking and motion compensation with an adaptive tumor tracking system (ATTS): system description and prototype testing.

A novel system for real-time tumor tracking and motion compensation with a robotic HexaPOD treatment couch is described. The approach is based on continuous tracking of the tumor motion in portal images without implanted fiducial markers, using the therapeutic megavoltage beam, and tracking of abdominal breathing motion with optical markers. Based on the two independently acquired data sets the table movements for motion compensation are calculated. The principle of operation of the entire prototype system is detailed first. In the second part the performance of the HexaPOD couch was investigated with a robotic four-dimensional-phantom capable of simulating real patient tumor trajectories in three-dimensional space. The performance and limitations of the HexaPOD table and the control system were characterized in terms of its dynamic behavior. The maximum speed and acceleration of the HexaPOD were 8 mm/s and 34.5 mm/s2 in the lateral direction, and 9.5 mm/s and 29.5 mm/s2 in longitudinal and anterior-posterior direction, respectively. Base line drifts of the mean tumor position of realistic lung tumor trajectories could be fully compensated. For continuous tumor tracking and motion compensation a reduction of tumor motion up to 68% of the original amplitude was achieved. In conclusion, this study demonstrated that it is technically feasible to compensate breathing induced tumor motion in the lung with the adaptive tumor tracking system.

Positioning accuracy of cone-beam computed tomography in combination with a HexaPOD robot treatment table.

PURPOSE: To scrutinize the positioning accuracy and reproducibility of a commercial hexapod robot treatment table (HRTT) in combination with a commercial cone-beam computed tomography system for image-guided radiotherapy (IGRT). METHODS AND MATERIALS: The mechanical stability of the X-ray volume imaging (XVI) system was tested in terms of reproducibility and with a focus on the moveable parts, i.e., the influence of kV panel and the source arm on the reproducibility and accuracy of both bone and gray value registration using a head-and-neck phantom. In consecutive measurements the accuracy of the HRTT for translational, rotational, and a combination of translational and rotational corrections was investigated. The operational range of the HRTT was also determined and analyzed. RESULTS: The system performance of the XVI system alone was very stable with mean translational and rotational errors of below 0.2 mm and below 0.2 degrees , respectively. The mean positioning accuracy of the HRTT in combination with the XVI system summarized over all measurements was below 0.3 mm and below 0.3 degrees for translational and rotational corrections, respectively. The gray value match was more accurate than the bone match. CONCLUSION: The XVI image acquisition and registration procedure were highly reproducible. Both translational and rotational positioning errors can be corrected very precisely with the HRTT. The HRTT is therefore well suited to complement cone-beam computed tomography to take full advantage of position correction in six degrees of freedom for IGRT. The combination of XVI and the HRTT has the potential to improve the accuracy of high-precision treatments.

Measurement of output factors for small photon beams.

A variety of detectors and procedures for the measurement of small field output factors are discussed in the current literature. Different detectors with or without corrections are recommended. Correction factors are often derived by Monte Carlo methods, where the bias due to approximations in the model is difficult to judge. Over that, results appear to be contradictory in some cases. In this work, output factors were measured for field sizes from 4 mm up to 180 mm side length with different detectors. A simple linear correction for the energy response of solid state detectors is proposed. This led to identical values down to 8 mm field size, as long as the size of the detector is small against the field size. The correction was of the order of a few percent. For a shielded silicon diode it was well below 1%. A physically meaningful function is proposed in order to calculate output factors for arbitrary field sizes with high accuracy.

The subjective experience of committed errors and the Discrepancy-Attribution hypothesis.

In routine sequential behavior, we sometimes become aware of having committed an error. However, often we do not. Here, we investigated the processes underlying conscious error detection within a typing paradigm. Our assumption according to the Discrepancy-Attribution hypothesis is that the (explicit) judgment of having made an error is due to a perceived discrepancy between expected and actually experienced performance which then is attributed to an error. In 4 experiments, participants were instructed to type single words without seeing what they were typing and, afterwards, to judge whether typing was correct. Experiments 1 through 3 tested the assumption that conscious awareness about an error is due to a perceived discrepancy between an expectation and the experienced performance. Experiment 4 investigated the assumption of a separate attribution process triggered by the perceived discrepancy. The results support the Discrepancy-Attribution hypothesis and argue for a two-stage model of conscious error detection.

Control of a HexaPOD treatment couch for robot-assisted radiotherapy.

Moving tumors, for example in the vicinity of the lungs, pose a challenging problem in radiotherapy, as healthy tissue should not be irradiated. Apart from gating approaches, one standard method is to irradiate the complete volume within which a tumor moves plus a safety margin containing a considerable volume of healthy tissue. This work deals with a system for tumor motion compensation using the HexaPOD® robotic treatment couch (Medical Intelligence GmbH, Schwabmünchen, Germany). The HexaPOD, carrying the patient during treatment, is instructed to perform translational movements such that the tumor motion, from the beams-eye view of the linear accelerator, is eliminated. The dynamics of the HexaPOD are characterized by time delays, saturations, and other non-linearities that make the design of control a challenging task. The focus of this work lies on two control methods for the HexaPOD that can be used for reference tracking. The first method uses a model predictive controller based on a model gained through system identification methods, and the second method uses a position control scheme useful for reference tracking. We compared the tracking performance of both methods in various experiments with real hardware using ideal reference trajectories, prerecorded patient trajectories, and human volunteers whose breathing motion was compensated by the system.

Semi-robotic 6 degree of freedom positioning for intracranial high precision radiotherapy; first phantom and clinical results.

BACKGROUND: To introduce a novel method of patient positioning for high precision intracranial radiotherapy. METHODS: An infrared(IR)-array, reproducibly attached to the patient via a vacuum-mouthpiece(vMP) and connected to the table via a 6 degree-of-freedom(DoF) mechanical arm serves as positioning and fixation system. After IR-based manual prepositioning to rough treatment position and fixation of the mechanical arm, a cone-beam CT(CBCT) is performed. A robotic 6 DoF treatment couch (HexaPOD) then automatically corrects all remaining translations and rotations. This absolute position of infrared markers at the first fraction acts as reference for the following fractions where patients are manually prepositioned to within +/- 2 mm and +/- 2 degrees of this IR reference position prior to final HexaPOD-based correction; consequently CBCT imaging is only required once at the first treatment fraction.The preclinical feasibility and attainable repositioning accuracy of this method was evaluated on a phantom and human volunteers as was the clinical efficacy on 7 pilot study patients. RESULTS: Phantom and volunteer manual IR-based prepositioning to within +/- 2 mm and +/- 2 degrees in 6 DoF was possible within a mean(+/- SD) of 90 +/- 31 and 56 +/- 22 seconds respectively. Mean phantom translational and rotational precision after 6 DoF corrections by the HexaPOD was 0.2 +/- 0.2 mm and 0.7 +/- 0.8 degrees respectively. For the actual patient collective, the mean 3D vector for inter-treatment repositioning accuracy (n = 102) was 1.6 +/- 0.8 mm while intra-fraction movement (n = 110) was 0.6 +/- 0.4 mm. CONCLUSIONS: This novel semi-automatic 6DoF IR-based system has been shown to compare favourably with existing non-invasive intracranial repeat fixation systems with respect to handling, reproducibility and, more importantly, intra-fraction rigidity. Some advantages are full cranial positioning flexibility for single and fractionated IGRT treatments and possibly increased patient comfort.

Influence of continuous table motion on patient breathing patterns.

PURPOSE: To investigate the influence of continuous table motion on patient breathing patterns for compensation of moving targets by a robotic treatment couch. METHODS AND MATERIALS: Fifteen volunteers were placed on a robotic treatment couch, and the couch was moved on different breathing-correlated and -uncorrelated trajectories. External abdominal breathing motion of the patients was measured using an infrared camera system. The influence of table motion on breathing range and pattern was analyzed. RESULTS: Continuous table motion was tolerated well by all test persons. Volunteers reacted differently to table motion. Four test persons showed no change of breathing range and pattern. Increased irregular breathing was observed in 4 patients; however, irregularity was not correlated with table motion. Only 4 test persons showed an increase in mean breathing amplitude of more than 2mm during motion of the couch. The mean cycle period decreased by more than 1 s for 2 test persons only. No abrupt changes in amplitude or cycle period could be observed. CONCLUSIONS: The observed small changes in breathing patterns support the application of motion compensation by a robotic treatment couch.

Investigation of the usability of conebeam CT data sets for dose calculation.

BACKGROUND: To investigate the feasibility and accuracy of dose calculation in cone beam CT (CBCT) data sets. METHODS: Kilovoltage CBCT images were acquired with the Elekta XVI system, CT studies generated with a conventional multi-slice CT scanner (Siemens Somatom Sensation Open) served as reference images. Material specific volumes of interest (VOI) were defined for commercial CT Phantoms (CATPhan and Gammex RMI) and CT values were evaluated in CT and CBCT images. For CBCT imaging, the influence of image acquisition parameters such as tube voltage, with or without filter (F1 or F0) and collimation on the CT values was investigated. CBCT images of 33 patients (pelvis n = 11, thorax n = 11, head n = 11) were compared with corresponding planning CT studies. Dose distributions for three different treatment plans were calculated in CT and CBCT images and differences were evaluated. Four different correction strategies to match CT values (HU) and density (D) in CBCT images were analysed: standard CT HU-D table without adjustment for CBCT; phantom based HU-D tables; patient group based HU-D tables (pelvis, thorax, head); and patient specific HU-D tables. RESULTS: CT values in the CBCT images of the CATPhan were highly variable depending on the image acquisition parameters: a mean difference of 564 HU +/- 377 HU was calculated between CT values determined from the planning CT and CBCT images. Hence, two protocols were selected for CBCT imaging in the further part of the study and HU-D tables were always specific for these protocols (pelvis and thorax with M20F1 filter, 120 kV; head S10F0 no filter, 100 kV). For dose calculation in real patient CBCT images, the largest differences between CT and CBCT were observed for the standard CT HU-D table: differences were 8.0% +/- 5.7%, 10.9% +/- 6.8% and 14.5% +/- 10.4% respectively for pelvis, thorax and head patients using clinical treatment plans. The use of patient and group based HU-D tables resulted in small dose differences between planning CT and CBCT: 0.9% +/- 0.9%, 1.8% +/- 1.6%, 1.5% +/- 2.5% for pelvis, thorax and head patients, respectively. The application of the phantom based HU-D table was acceptable for the head patients but larger deviations were determined for the pelvis and thorax patient populations. CONCLUSION: The generation of three HU-D tables specific for the anatomical regions pelvis, thorax and head and specific for the corresponding CBCT image acquisition parameters resulted in accurate dose calculation in CBCT images. Once these HU-D tables are created, direct dose calculation on CBCT datasets is possible without the need of a reference CT images for pixel value calibration.

Three-dimensional spatial modelling of the correlation between abdominal motion and lung tumour motion with breathing.

The aim of this research was to investigate whether a spatial correlation could be found between an external 3-D respiratory signal and the tumour trajectory. The respiratory signal was obtained by tracking the abdominal movement and the tumour trajectory was obtained by automatically determining the tumour position in a series of portal images. Three different models, based on Systems Identification, are presented to model the correlation using a 1-D respiratory signal, a 3-D respiratory signal and a 3-D respiratory signal together with previously determined tumour positions. Adequate correlation was found for all models in the direction of the tumour movement with standard deviations of 0.89 mm, 0.72 mm and 0.75 mm, respectively, and model fit of Rt2 = 0.19, 0.63 and 0.82, respectively. Increasing the frame rate for the acquisition of portal images from 3 to 15 frames per second improved the standard deviation and model fit. In summary, it is possible to spatially correlate a 3-D respiratory signal with the tumour trajectory using this approach. The models presented provide a framework that can be extended to include more information if required. A 3-D respiratory signal is preferable to a 1-D signal in modelling the tumour motion that is not along the main axis of tumour movement.