TBS-BAO: fully automated beam angle optimization for IMRT guided by a total-beam-space reference plan.

Properly selected beam angles contribute to the quality of radiotherapy treatment plans. However, the beam angle optimization (BAO) problem is difficult to solve to optimality due to its non-convex discrete nature with many local minima. In this study, we propose TBS-BAO, a novel approach for solving the BAO problem, and test it for non-coplanar robotic CyberKnife radiotherapy for prostate cancer. First, an ideal Pareto-optimal reference dose distribution is automatically generated usinga priorimulti-criterial fluence map optimization (FMO) to generate a plan that includes all candidate beams (total-beam-space, TBS). Then, this ideal dose distribution is reproduced as closely as possible in a subsequent segmentation/beam angle optimization step (SEG/BAO), while limiting the number of allowed beams to a user-selectable preset value. SEG/BAO aims at a close reproduction of the ideal dose distribution. For each of 33 prostate SBRT patients, 18 treatment plans with different pre-set numbers of allowed beams were automatically generated with the proposed TBS-BAO. For each patient, the TBS-BAO plans were then compared to a plan that was automatically generated with an alternative BAO method (Erasmus-iCycle) and to a high-quality manually generated plan. TBS-BAO was able to automatically generate plans with clinically feasible numbers of beams (∼25), with a quality highly similar to corresponding 91-beam ideal reference plans. Compared to the alternative Erasmus-iCycle BAO approach, similar plan quality was obtained for 25-beam segmented plans, while computation times were reduced from 10.7 hours to 4.8/1.5 hours, depending on the applied pencil-beam resolution in TBS-BAO. 25-beam TBS-BAO plans had similar quality as manually generated plans with on average 48 beams, while delivery times reduced from 22.3 to 18.4/18.1 min. TBS reference plans could effectively steer the discrete non-convex BAO.

Accurate 3D-dose-based generation of MLC segments for robotic radiotherapy.

Radiotherapy treatment planning requires accurate modeling of the delivered patient dose, including radiation scatter effects, multi-leaf collimator (MLC) leaf transmission, interleaf-leakage, etc. In fluence map optimization (FMO), a simple dose model is used to first generate an intermediate plan based on pencil-beams. In a second step (segmentation phase), this intermediate plan is then converted into a deliverable treatment plan with MLC segments. In this paper, we investigate novel approaches for the use of a clinical dose engine (CDE) for segmentation of FMO plans in robotic radiotherapy. Segments are sequentially added to the plan. Generation of each next segment is based on the total 3D dose distribution, resulting from already selected segments and the desired FMO dose, considering all treatment beams as candidates for delivery of the new segment. Three versions of the segmentation algorithm were investigated with differences in the integration of the CDE. The combined use of pencil-beams and segments in a segmentation method is non-trivial. Therefore, new methods were developed for the use of segment doses calculated with the CDE in combination with pencil-beams, used for the selection of new segments. For 20 patients with prostate cancer and 12 with liver cancer, segmented plans were compared with FMO plans. All three versions of the proposed segmentation algorithm could well mimic FMO dose distributions. Segmentation with a fully integrated CDE provided the best plan quality and lowest numbers of monitor units and segments at the cost of increased calculation time.

Automated prioritised 3D dose-based MLC segment generation for step-and-shoot IMRT.

Segmentation can degrade a high-quality dose distribution obtained by fluence map optimisation (FMO). A novel algorithm is proposed for generation of MLC segments to deliver an FMO plan with step-and-shoot IMRT while minimising quality loss. All beams are considered simultaneously while generating MLC segments for reproducing the 3D FMO dose distribution. Segment generation is only steered by the 3D FMO dose distribution, i.e. underlying FMO fluence profiles are not considered. The algorithm features prioritised generation of segments, focusing on accurate reproduction of clinical objectives with the highest priorities. The performance of the segmentation algorithm was evaluated for 20 prostate patients, 15 head-and-neck patients, and 12 liver patients. FMO dose distributions were generated by automated multi-criteria treatment planning (Pareto-optimal plans) and subsequently segmented using the proposed method. Various segmentation strategies were investigated regarding prioritisation of objectives and limitation of the number of segments. Segmented plans were dosimetrically similar to FMO plans and for all patients a clinically acceptable segmented plan could be generated. Substantial differences between FMO and segmented fluence profiles were observed. Avoidance of the usual reconstruction of 2D FMO fluence profiles for segment generation, and instead simultaneously generating segments for all beams to directly reproduce the 3D FMO dose distribution is a likely explanation for the obtained results. For the strategies of limiting the number of segments large reductions in number of segments were observed with minimal impact on plan quality.