Couch-based motion compensation: modelling, simulation and real-time experiments

The paper presents a couch-based active motion compensation strategy evaluated in simulation and validated experimentally using both a research and a clinical Elekta Precise Table™. The control strategy combines a Kalman filter to predict the surrogate motion used as a reference by a linear model predictive controller with the control action calculation based on estimated position and velocity feedback provided by an observer as well as predicted couch position and velocity using a linearized state space model. An inversion technique is used to compensate for the dead-zone nonlinearity. New generic couch models are presented and applied to model the Elekta Precise Table™ dynamics and nonlinearities including dead zone. Couch deflection was measured for different manufacturers and found to be up to 25 mm. A feed-forward approach is proposed to compensate for such couch deflection. Simultaneous motion compensation for longitudinal, lateral and vertical motions was evaluated using arbitrary trajectories generated from sensors or loaded from files. Tracking errors were between 0.5 and 2 mm RMS. A dosimetric evaluation of the motion compensation was done using a sinusoidal waveform. No notable differences were observed between films obtained for a fixed- or motion-compensated target. Further dosimetric improvement could be made by combining gating, based on tracking error together with beam on/off time, and PSS compensation.

[1]  Masahiro Hiraoka,et al.  Development of a four-dimensional image-guided radiotherapy system with a gimbaled X-ray head. , 2006, International journal of radiation oncology, biology, physics.

[2]  Darby Erler,et al.  A Comparison of Two Immobilization Systems for Stereotactic Body Radiation Therapy (SBRT) of Lung Tumors , 2009 .

[3]  Martin J Murphy,et al.  Optimization of an adaptive neural network to predict breathing. , 2008, Medical physics.

[4]  Teboh Roland,et al.  Incorporating system latency associated with real-time target tracking radiotherapy in the dose prediction step. , 2010, Physics in medicine and biology.

[5]  K. Burnham,et al.  Optimization of beam orientation in radiotherapy using planar geometry. , 1998, Physics in medicine and biology.

[6]  John A. Mills,et al.  Imaging and control for adaptive radiotherapy , 2005 .

[7]  Uwe Oelfke,et al.  Real-time tumor tracking: automatic compensation of target motion using the Siemens 160 MLC. , 2010, Medical physics.

[8]  John A Mills,et al.  A multiple model approach to respiratory motion prediction for real-time IGRT , 2008, Physics in medicine and biology.

[9]  Daniel Paluszczyszyn,et al.  Motion prediction and control for patient motion compensation in radiotherapy , 2011 .

[10]  Jan M. Maciejowski,et al.  Predictive control : with constraints , 2002 .

[11]  Herbert Cattell,et al.  Geometric accuracy of a real-time target tracking system with dynamic multileaf collimator tracking system. , 2006, International journal of radiation oncology, biology, physics.

[12]  Ian Poon,et al.  A comparison of two immobilization systems for stereotactic body radiation therapy of lung tumors. , 2009, Radiotherapy and oncology : journal of the European Society for Therapeutic Radiology and Oncology.

[13]  Seth Van Liew,et al.  Investigation of motion sickness and inertial stability on a moving couch for intra-fraction motion compensation , 2009, Acta oncologica.

[14]  Jan-Jakob Sonke,et al.  Strategies for online organ motion correction for intensity-modulated radiotherapy of prostate cancer: prostate, rectum, and bladder dose effects. , 2009, International journal of radiation oncology, biology, physics.

[15]  Steve B. Jiang,et al.  Technical aspects of image-guided respiration-gated radiation therapy. , 2006, Medical dosimetry : official journal of the American Association of Medical Dosimetrists.

[16]  Richard A Popple,et al.  Dynamic MLC leaf sequencing for integrated linear accelerator control systems. , 2011, Medical physics.

[17]  J G M Kok,et al.  Towards MRI-guided linear accelerator control: gating on an MRI accelerator , 2011, Physics in medicine and biology.

[18]  P J Keall,et al.  The application of the sinusoidal model to lung cancer patient respiratory motion. , 2005, Medical physics.

[19]  Alexander Schlaefer,et al.  Predicting the outcome of respiratory motion prediction. , 2011, Medical physics.

[20]  Warren D D'Souza,et al.  An analysis of the treatment couch and control system dynamics for respiration-induced motion compensation. , 2006, Medical physics.

[21]  Y Yu,et al.  A robotic approach to 4D real-time tumor tracking for radiotherapy , 2011, Physics in medicine and biology.

[22]  Klaus Schilling,et al.  Model Predictive Control for Tumor Motion Compensation in Robot Assisted Radiotherapy , 2011 .

[23]  Ke Sheng,et al.  Standardized evaluation of simultaneous integrated boost plans on volumetric modulated arc therapy , 2011, Physics in medicine and biology.

[24]  Bryan Kim,et al.  An investigation of the reproducibility and usefulness of automatic couch motion in complex radiation therapy techniques , 2002, Journal of applied clinical medical physics.

[25]  Klaus Schilling,et al.  Tumor tracking and motion compensation with an adaptive tumor tracking system (ATTS): System description and prototype testing. , 2008, Medical physics.

[26]  Warren D D'Souza,et al.  Inferential modeling and predictive feedback control in real-time motion compensation using the treatment couch during radiotherapy , 2007, Physics in medicine and biology.

[27]  Yan Yu,et al.  Active tracking and dynamic dose delivery for robotic couch in radiation therapy , 2011, 2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[28]  Dirk Verellen,et al.  A (short) history of image-guided radiotherapy. , 2008, Radiotherapy and oncology : journal of the European Society for Therapeutic Radiology and Oncology.

[29]  Gregory C Sharp,et al.  Tumor trailing strategy for intensity-modulated radiation therapy of moving targets. , 2008, Medical physics.

[30]  Manish Kakar,et al.  Intelligent and Adaptive Systems in Cancer Biomedicine , 2010 .

[31]  Deshan Yang,et al.  Target tracking using DMLC for volumetric modulated arc therapy: a simulation study. , 2010, Medical physics.

[32]  Cedric X. Yu,et al.  Real-time intra-fraction-motion tracking using the treatment couch: a feasibility study , 2005, Physics in medicine and biology.

[33]  Thierry Gevaert,et al.  Geometric accuracy of a novel gimbals based radiation therapy tumor tracking system. , 2011, Radiotherapy and oncology : journal of the European Society for Therapeutic Radiology and Oncology.

[34]  Martin J Murphy,et al.  The effect of transponder motion on the accuracy of the Calypso Electromagnetic localization system. , 2008, International journal of radiation oncology, biology, physics.

[35]  J. Wong,et al.  The use of active breathing control (ABC) to reduce margin for breathing motion. , 1999, International journal of radiation oncology, biology, physics.

[36]  D. Putra,et al.  Output-Feedback Tracking for Tumour Motion Compensation in Adaptive Radiotherapy , 2007, 2007 American Control Conference.

[37]  S. Abdelhamid.  Respiratory motion modelling and predictive tracking for adaptive radiotherapy , 2010 .

[38]  N G Burnet,et al.  Tumour shrinkage and contour change during radiotherapy increase the dose to organs at risk but not the target volumes for head and neck cancer patients treated on the TomoTherapy HiArt™ system. , 2011, Clinical oncology (Royal College of Radiologists (Great Britain)).

[39]  M. Hoogeman,et al.  Clinical accuracy of the respiratory tumor tracking system of the cyberknife: assessment by analysis of log files. , 2009, International journal of radiation oncology, biology, physics.

[40]  Uwe Oelfke,et al.  Electromagnetic real-time tumor position monitoring and dynamic multileaf collimator tracking using a Siemens 160 MLC: geometric and dosimetric accuracy of an integrated system. , 2011, International journal of radiation oncology, biology, physics.

[41]  Keith J. Burnham,et al.  Predictive Tracking for Respiratory Induced Motion Compensation in Adaptive Radiotherapy , 2007 .