Small field dosimetry correction factors for circular and MLC shaped fields with the CyberKnife M6 System: evaluation of the PTW 60023 microSilicon detector.

The PTW 60023 microSilicon is a new unshielded diode detector for small-field photon dosimetry. It provides improved water equivalence and a slightly larger sensitive region diameter in comparison to previous diode detectors in this range. In this study we evaluated the correction factors relevant to commissioning a CyberKnife System with this detector by Monte Carlo simulation and verified this data by multi-detector measurement comparison. The correction factors required for output factor determination were substantially closer to unity at small field sizes than for previous diode versions (e.g. [Formula: see text] = 0.981 at 5 mm field size which compares with corrections of 5%-6% with other stereotactic diodes). Because of these differences we recommend that corrections to small field output factor measurements generated specifically for the microSilicon detector rather than generic data taken from other diode types should be used with this new detector. For depth-dose measurements the microSilicon is consistent with a microDiamond detector to <1% (global), except at depths <10 mm where the diode gives a significantly lower measurement, by 6%-8% at the surface. For profile measurements, the microSilicon requires negligible corrections except in the low dose region outside the beam, where it underestimates off-axis-ratio (OAR) for small fields and overestimates for large fields. Where this effect is most noticeable at the largest field size and depth (115 mm × 100 mm and 300 mm depth) the microSilicon overestimates OAR by 2.3% (global) in the profile tail. This is consistent with other unshielded diodes.

Benchmarking Monte-Carlo dose calculation for MLC CyberKnife treatments.

BACKGROUND: Vendor-independent Monte Carlo (MC) dose calculation (IDC) for patient-specific quality assurance of multi-leaf collimator (MLC) based CyberKnife treatments is used to benchmark and validate the commercial MC dose calculation engine for MLC based treatments built into the CyberKnife treatment planning system (Precision MC). METHODS: The benchmark included dose profiles in water in 15 mm depth and depth dose curves of rectangular MLC shaped fields ranging from 7.6 mm × 7.7 mm to 115.0 mm × 100.1 mm, which were compared between IDC, Precision MC and measurements in terms of dose difference and distance to agreement. Dose distributions of three phantom cases and seven clinical lung cases were calculated using both IDC and Precision MC. The lung PTVs ranged from 14 cm3 to 93 cm3. Quantitative comparison of these dose distributions was performed using dose-volume parameters and 3D gamma analysis with 2% global dose difference and 1 mm distance criteria and a global 10% dose threshold. Time to calculate dose distributions was recorded and efficiency was assessed. RESULTS: Absolute dose profiles in 15 mm depth in water showed agreement between Precision MC and IDC within 3.1% or 1 mm. Depth dose curves agreed within 2.3% / 1 mm. For the phantom and clinical lung cases, mean PTV doses differed from - 1.0 to + 2.3% between IDC and Precision MC and gamma passing rates were > =98.1% for all multiple beam treatment plans. For the lung cases, lung V20 agreed within ±1.5%. Calculation times ranged from 2.2 min (for 39 cm3 PTV at 1.0 × 1.0 × 2.5 mm3 native CT resolution) to 8.1 min (93 cm3 at 1.1 × 1.1 × 1.0 mm3), at 2% uncertainty for Precision MC for the 7 examined lung cases and 4-6 h for IDC, which, however, is not optimized for efficiency but used as a gold standard for accuracy. CONCLUSIONS: Both accuracy and efficiency of Precision MC in the context of MLC based planning for the CyberKnife M6 system were benchmarked against MC based IDC framework. Precision MC is used in clinical practice at our institute.

The impact of inter-unit variations on small field dosimetry correction factors, with application to the CyberKnife system.

Small field dosimetry correction factors are usually determined from calculations or measurements using one specific example of a treatment system. The sensitivity of the corrections to inter-unit variation is therefore not evaluated. We propose two methods for this evaluation that could be applied to any system. We use them to assess the variability in [Formula: see text] for the CyberKnife System caused by design changes between pre-M6 and M6 versions, and to the variability in [Formula: see text] and [Formula: see text] resulting from measured beam-data variations across 139 units. We also perform measurements to investigate the differences in [Formula: see text] reported for microchambers in a CyberKnife-specific study versus TRS-483. The results show that [Formula: see text] is smaller for the M6 version than pre-M6 versions by 0.4% for a Farmer chamber, and 0.1% for shorter chambers. The presence or absence of a lead filter within the treatment head had no significant impact on [Formula: see text]. The beam-data analysis showed inter-unit variations in [Formula: see text] of ±0.8% (2 s.d.) for Farmer chambers and ⩽ ±0.5% for shorter cavities (<10 mm) pre-M6, reducing to 0.4% and 0.2% respectively with M6. Inter-unit [Formula: see text] variations for microDiamond and microchambers were ⩽ ±1% at 5 mm field size, except for microchambers with axis perpendicular to the beam where this was > ±2%. Differences of up to 9% were confirmed between Output Factors measured using a microchamber and corrected using TRS-483 [Formula: see text], and a consensus dataset for the same treatment unit determined using multiple detectors and Monte Carlo simulation. A set of practical recommendations for small field dosimetry with the CyberKnife System is derived from these results.

Monte Carlo simulated corrections for beam commissioning measurements with circular and MLC shaped fields on the CyberKnife M6 System: a study including diode, microchamber, point scintillator, and synthetic microdiamond detectors.

Monte Carlo simulation was used to calculate correction factors for output factor (OF), percentage depth-dose (PDD), and off-axis ratio (OAR) measurements with the CyberKnife M6 System. These include the first such data for the InCise MLC. Simulated detectors include diodes, air-filled microchambers, a synthetic microdiamond detector, and point scintillator. Individual perturbation factors were also evaluated. OF corrections show similar trends to previous studies. With a 5 mm fixed collimator the diode correction to convert a measured OF to the corresponding point dose ratio varies between -6.1% and -3.5% for the diode models evaluated, while in a 7.6 mm × 7.7 mm MLC field these are -4.5% to -1.8%. The corresponding microchamber corrections are +9.9% to +10.7% and +3.5% to +4.0%. The microdiamond corrections have a maximum of -1.4% for the 7.5 mm and 10 mm collimators. The scintillator corrections are <1% in all beams. Measured OF showed uncorrected inter-detector differences >15%, reducing to <3% after correction. PDD corrections at d > d max were <2% for all detectors except IBA Razor where a maximum 4% correction was observed at 300 mm depth. OAR corrections were smaller inside the field than outside. At the beam edge microchamber OAR corrections were up to 15%, mainly caused by density perturbations, which blurs the measured penumbra. With larger beams and depths, PTW and IBA diode corrections outside the beam were up to 20% while the Edge detector needed smaller corrections although these did vary with orientation. These effects are most noticeable for large field size and depth, where they are dominated by fluence and stopping power perturbations. The microdiamond OAR corrections were <3% outside the beam. This paper provides OF corrections that can be used for commissioning new CyberKnife M6 Systems and retrospectively checking estimated corrections used previously. We recommend the PDD and OAR corrections are used to guide detector selection and inform the evaluation of results rather than to explicitly correct measurements.

Monte Carlo simulated correction factors for output factor measurement with the CyberKnife system-results for new detectors and correction factor dependence on measurement distance and detector orientation.

A previous study of the corrections needed for output factor measurements with the CyberKnife system has been extended to include new diode detectors (IBA SFD and Exradin D1V), an air filled microchamber (Exradin CC01) and a scintillation detector (Exradin W1). The dependence of the corrections on detector orientation (detector long axis parallel versus perpendicular to the beam axis) and source to detector distance (SDD) was evaluated for these new detectors and for those in our previous study. The new diodes are found to over-respond at the smallest (5 mm) field size by 2.5% (D1V) and 3.3% (SFD) at 800 mm SDD, while the CC01 under-responds by 7.4% at the same distance when oriented parallel to the beam. Corrections for all detectors tend to unity as field size increases. The W1 corrections are <0.5% at all field sizes. Microchamber correction factors increase substantially if the detector is oriented perpendicular to the beam (by up to 23% for the PTW 31014). Corrections also vary with SDD, with the largest variations seen for microchambers in the perpendicular orientation (up to 13% change at 650 mm SDD versus 800 mm) and smallest for diodes (~1% change at 650 mm versus 800 mm). The smallest and most stable corrections are found for diodes, liquid filled microchambers and scintillation detectors, therefore these should be preferred for small field output factor measurements. If air filled microchambers are used, then the parallel orientation should be preferred to the perpendicular, and care should be taken to use corrections appropriate to the measurement SDD.

On the output factor measurements of the CyberKnife iris collimator small fields: Experimental determination of the k(Q(clin),Q(msr) ) (f(clin),f(msr) ) correction factors for microchamber and diode detectors.

PURPOSE: To measure the output factors (OFs) of the small fields formed by the variable aperture collimator system (iris) of a CyberKnife (CK) robotic radiosurgery system, and determine the k(Q(clin),Q(msr) ) (f(clin),f(msr) ) correction factors for a microchamber and four diode detectors. METHODS: OF measurements were performed using a PTW PinPoint 31014 microchamber, four diode detectors (PTW-60017, -60012, -60008, and the SunNuclear EDGE detector), TLD-100 microcubes, alanine dosimeters, EBT films, and polymer gels for the 5 mm, 7.5 mm, 10 mm, 12.5 mm, and 15 mm iris collimators at 650 mm, 800 mm, and 1000 mm source to detector distance (SDD). The alanine OF measurements were corrected for volume averaging effects using the 3D dose distributions registered in polymer gel dosimeters. k(Q(clin),Q(msr) ) (f(clin),f(msr) ) correction factors for the PinPoint microchamber and the diode dosimeters were calculated through comparison against corresponding polymer gel, EBT, alanine, and TLD results. RESULTS: Experimental OF results are presented for the array of dosimetric systems used. The PinPoint microchamber was found to underestimate small field OFs, and a k(Q(clin),Q(msr) ) (f(clin),f(msr) ) correction factor ranging from 1.127 ± 0.022 (for the 5 mm iris collimator) to 1.004 ± 0.010 (for the 15 mm iris collimator) was determined at the reference SDD of 800 mm. The PinPoint k(Q(clin),Q(msr) ) (f(clin),f(msr) ) correction factor was also found to increase with decreasing SDD; k(Q(clin),Q(msr) ) (f(clin),f(msr) ) values equal to 1.220 ± 0.028 and 1.077 ± 0.016 were obtained for the 5 mm iris collimator at 650 mm and 1000 mm SDD, respectively. On the contrary, diode detectors were found to overestimate small field OFs and a correction factor equal to 0.973 ± 0.006, 0.954 ± 0.006, 0.937 ± 0.007, and 0.964 ± 0.006 was measured for the PTW-60017, -60012, -60008 and the EDGE diode detectors, respectively, for the 5 mm iris collimator at 800 mm SDD. The corresponding correction factors for the 15 mm iris collimator were found equal to 0.997 ± 0.010, 0.994 ± 0.009, 0.988 ± 0.010, and 0.986 ± 0.010, respectively. No correlation of the diode k(Q(clin),Q(msr) ) (f(clin),f(msr) ) correction factors with SDD was observed. CONCLUSIONS: This work demonstrates an experimental procedure for the determination of the k(Q(clin),Q(msr) ) (f(clin),f(msr) ) correction factors required to obtain small field OF results of increased accuracy.

Monte Carlo simulated correction factors for machine specific reference field dose calibration and output factor measurement using fixed and iris collimators on the CyberKnife system.

Monte Carlo (MC) simulation of dose to water and dose to detector has been used to calculate the correction factors needed for dose calibration and output factor measurements on the CyberKnife system. Reference field ionization chambers simulated were the PTW 30006, Exradin A12, and NE 2571 Farmer chambers, and small volume chambers PTW 31014 and 31010. Correction factors for Farmer chambers were found to be 0.7%-0.9% larger than those determined from TRS-398 due mainly to the dose gradient across the chamber cavity. For one microchamber where comparison was possible, the factor was 0.5% lower than TRS-398 which is consistent with previous MC simulations of flattening filter free Linacs. Output factor detectors simulated were diode models PTW 60008, 60012, 60017, 60018, Sun Nuclear edge detector, air-filled microchambers Exradin A16 and PTW 31014, and liquid-filled microchamber PTW 31018 microLion. Factors were generated for both fixed and iris collimators. The resulting correction factors differ from unity by up to +11% for air-filled microchambers and -6% for diodes at the smallest field size (5 mm), and tend towards unity with increasing field size (correction factor magnitude <1% for all detectors at field sizes >15 mm). Output factor measurements performed using these detectors with fixed and iris collimators on two different CyberKnife systems showed initial differences between detectors of >15% at 5 mm field size. After correction the measurements on each unit agreed within ∼1.5% at the smallest field size. This paper provides a complete set of correction factors needed to apply a new small field dosimetry formalism to both collimator types on the CyberKnife system using a range of commonly used detectors.

Poster - Thur Eve - 46: The upcoming international code of practice for small static photon field dosimetry.

The increased use of small photon fields in stereotactic and intensity-modulated radiotherapy has raised the need for standardizing the dosimetry of such fields using procedures consistent with those for conventional radiotherapy. An international working group, established by the IAEA in collaboration with AAPM and IPEM, is finalising a Code of Practice for the dosimetry of small static photon fields. Procedures for reference dosimetry in nonstandard machine specific reference (msr) fields are provided following the formalism of Alfonso et al. (Med. Phys. 35: 5179; 2008). Reference dosimetry using ionization chambers in machines that cannot establish a conventional 10 cm × 10 cm reference field is based on either a direct calibration in the msr field traceable to primary standards, a calibration in a reference field and a generic correction factor or the product of a correction factor for a virtual reference field and a correction factor for the difference between the msr and virtual fields. For the latter method, procedures are provided for determining the beam quality in non-reference conditions. For the measurement of field output factors in small fields, procedures for connecting large field measurements using ionization chambers to small field measurements using high-resolution detectors such as diodes, diamond, liquid ion chambers, organic scintillators and radiochromic film are given. The Code of Practice also presents consensus data on correction factors for use in conjunction with measured, detector-specific output factors. Further research to determine missing data according to the proposed framework will be strongly encouraged by publication of this document.

The CyberKnife Robotic Radiosurgery System in 2010.

This review provides a complete technical description of the CyberKnife VSI System, the latest addition to the CyberKnife product family, which was released in September 2009. This review updates the previous technical reviews of the original system version published in the late 1990s. Technical developments over the last decade have impacted virtually every aspect of the CyberKnife System. These developments have increased the geometric accuracy of the system and have enhanced the dosimetric accuracy and quality of treatment, with advanced inverse treatment planning algorithms, rapid Monte Carlo dose calculation, and post-processing tools that allow trade-offs between treatment efficiency and dosimetric quality to be explored. This review provides a system overview with detailed descriptions of key subsystems. A detailed review of studies of geometric accuracy is also included, reporting a wide range of experiments involving phantom tests and patient data. Finally, the relationship between technical developments and the greatly increased range of clinical applications they have allowed is reviewed briefly.

On the implementation of a recently proposed dosimetric formalism to a robotic radiosurgery system.

PURPOSE: The aim of this work is to implement a recently proposed dosimetric formalism for nonstandard fields to the calibration and small field output factor measurement of a robotic stereotactic radiosurgery system. METHODS: Reference dosimetry measurements were performed in the nonstandard, 60 mm diameter machine specific reference (msr) field using a Farmer ion chamber, five other cylindrical chambers with cavity lengths ranging from 16.25 down to 2.7 mm, and alanine dosimeters. Output factor measurements were performed for the 5, 7.5, 10, and 15 mm field sizes using microchambers, diode detectors, alanine dosimeters, TLD microcubes, and EBT Gafchromic films. Measurement correction factors as described in the proposed formalism were calculated for the ion chamber and diode detector output factor measurements based on published Monte Carlo data. Corresponding volume averaging correction factors were calculated for the alanine output factor measurements using 3D dose distributions, measured with polymer gel dosimeters. RESULTS: Farmer chamber and alanine reference dosimetry results were found in close agreement, yielding a correction factor of k(Q(msr),Q)(f(msr),f(ref)) = 0.999 +/- 0.016 for the chamber readings. These results were also found to be in agreement within experimental uncertainties with corresponding results obtained using the shorter cavity length ionization chambers. The mean measured dose values of the latter, however, were found to be consistently greater than that of the Farmer chamber. This finding, combined with an observed inverse relationship between the mean measured dose and chamber cavity length that follows the trend predicted by theoretical volume averaging calculations in the msr field, implies that the Farmer k(Q(msr),Q)(f(msr),f(ref)) correction is greater than unity. Regarding the output factor results, deviations as large as 33% were observed between the different dosimeters used. These deviations were substantially decreased when appropriate correction factors were applied to the measured microchamber, diode, and alanine values. After correction, all diode and microchamber measured output factors agreed within 1.6% with the corresponding alanine measurements, and within 3.1% with the TLD measurements. The weighted mean output factors were 0.681 +/- 0.001, 0.824 +/- 0.001, 0.875 +/- 0.001, and 0.954 +/- 0.001 for the 5, 7.5, 10, and 15 mm beams, respectively. CONCLUSIONS: The comparison of Farmer chamber measurements versus alanine reference dosimetry validates the use of the former for dosimetry in the msr field of this treatment delivery system. The corresponding results of this work obtained using chambers with different cavity lengths, combined with previous literature findings, suggest that a k(Q(msr),Q)(f(msr),f(ref)) Farmer chamber dose response correction factor of 1.01 may improve calibration measurement accuracy when using the proposed dosimetric formalism. The k(Q(msr),Q)(f(msr),f(ref)) correction factor is within 0.5% from unity for ion chambers with cavity lengths less than 10 mm. Substantial improvements in small field output factor measurement accuracy can be obtained when using microchambers and diodes by applying appropriately calculated correction factors to the detector measurements according to the proposed dosimetric formalism, and their routine use is therefore recommended.

The design, physical properties and clinical utility of an iris collimator for robotic radiosurgery.

Robotic radiosurgery using more than one circular collimator can improve treatment plan quality and reduce total monitor units (MU). The rationale for an iris collimator that allows the field size to be varied during treatment delivery is to enable the benefits of multiple-field-size treatments to be realized with no increase in treatment time due to collimator exchange or multiple traversals of the robotic manipulator by allowing each beam to be delivered with any desired field size during a single traversal. This paper describes the Iris variable aperture collimator (Accuray Incorporated, Sunnyvale, CA, USA), which incorporates 12 tungsten-copper alloy segments in two banks of six. The banks are rotated by 30 degrees with respect to each other, which limits the radiation leakage between the collimator segments and produces a 12-sided polygonal treatment beam. The beam is approximately circular, with a root-mean-square (rms) deviation in the 50% dose radius of <0.8% (corresponding to <0.25 mm at the 60 mm field size) and an rms variation in the 20-80% penumbra width of about 0.1 mm at the 5 mm field size increasing to about 0.5 mm at 60 mm. The maximum measured collimator leakage dose rate was 0.07%. A commissioning method is described by which the average dose profile can be obtained from four profile measurements at each depth based on the periodicity of the isodose line variations with azimuthal angle. The penumbra of averaged profiles increased with field size and was typically 0.2-0.6 mm larger than that of an equivalent fixed circular collimator. The aperture reproducibility is < or =0.1 mm at the lower bank, diverging to < or =0.2 mm at a nominal treatment distance of 800 mm from the beam focus. Output factors (OFs) and tissue-phantom-ratio data are identical to those used for fixed collimators, except the OFs for the two smallest field sizes (5 and 7.5 mm) are considerably lower for the Iris Collimator. If average collimator profiles are used, the assumption of circular symmetry results in dose calculation errors that are <1 mm or <1% for single beams across the full range of field sizes; errors for multiple non-coplanar beam treatment plans are expected to be smaller. Treatment plans were generated for 19 cases using the Iris Collimator (12 field sizes) and also using one and three fixed collimators. The results of the treatment planning study demonstrate that the use of multiple field sizes achieves multiple plan quality improvements, including reduction of total MU, increase of target volume coverage and improvements in conformality and homogeneity compared with using a single field size for a large proportion of the cases studied. The Iris Collimator offers the potential to greatly increase the clinical application of multiple field sizes for robotic radiosurgery.

A new formalism for reference dosimetry of small and nonstandard fields.

The use of small fields in radiotherapy techniques has increased substantially, in particular in stereotactic treatments and large uniform or nonuniform fields that are composed of small fields such as for intensity modulated radiation therapy (IMRT). This has been facilitated by the increased availability of standard and add-on multileaf collimators and a variety of new treatment units. For these fields, dosimetric errors have become considerably larger than in conventional beams mostly due to two reasons; (i) the reference conditions recommended by conventional Codes of Practice (CoPs) cannot be established in some machines and (ii) the measurement of absorbed dose to water in composite fields is not standardized. In order to develop standardized recommendations for dosimetry procedures and detectors, an international working group on reference dosimetry of small and nonstandard fields has been established by the International Atomic Energy Agency (IAEA) in cooperation with the American Association of Physicists in Medicine (AAPM) Therapy Physics Committee. This paper outlines a new formalism for the dosimetry of small and composite fields with the intention to extend recommendations given in conventional CoPs for clinical reference dosimetry based on absorbed dose to water. This formalism introduces the concept of two new intermediate calibration fields: (i) a static machine-specific reference field for those modalities that cannot establish conventional reference conditions and (ii) a plan-class specific reference field closer to the patient-specific clinical fields thereby facilitating standardization of composite field dosimetry. Prior to progressing with developing a CoP or other form of recommendation, the members of this IAEA working group welcome comments from the international medical physics community on the formalism presented here.

Robotic whole body stereotactic radiosurgery: clinical advantages of the Cyberknife integrated system.

Radiosurgery is defined as the delivery of high doses of ionising radiation, in mono- or hypo- fractionated treatments, to destroy tumours or focal areas of pathology. The clinical requirements of designing a radiosurgical treatment system include providing: a) a highly precise beam delivery to targets located throughout the body, b) a highly conformal dose distribution, c) the ability to irradiate both small and/or large complex-shaped lesions while minimising the dose to adjacent radiosensitive tissues and d) the ability to interactively track lesion motion due to normal patient motion. To accomplish this, the CyberKnife radiosurgery system has pioneered in this area by taking advantage of the inherent geometrical targeting precision of a commercial arm-based robotic system carrying a compact X-band linear accelerator and integrated with X-ray imaging and visualisation feedback systems. The arm-mounted linear accelerator, equipped with patient specific anatomical models, registered to the patient in real-time with image guidance, dynamically and safely delivers conformal and homogeneous radiation for therapeutic benefit. This paper details the components of the CyberKnife system and their integration in the clinical workflow of radiosurgery.