QA for Modern Radiation Therapy: Autonomous QA Strategy for...
Transcript of QA for Modern Radiation Therapy: Autonomous QA Strategy for...
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QA for Modern Radiation Therapy: Autonomous QA Strategy for Digital Linacs
Yong Yang, Ph.D.
Department of Radiation Oncology
Stanford University
2017 AAPM Therapy Educational Course
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Disclosure
Acknowledgement
• Lei Xing, Ph.D.• Cesare H Jenkins, Ph.D.• Ben Fahimian. Ph.D.• Amy Yu, Ph.D.• Bin Han, Ph.D.• Ruijiang Li, Ph.D.
I have no conflicts of interest to disclose.
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Objectives
• Understand the complex and time consuming nature of quality assurance (QA) for a modern Linac
• Understand the programmable features of digital Linacs
• Understand the advantages and general process of autonomous QA for digital Linacs
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Outlines
• Quality assurance (QA) for a modern medical Linac
• An overview of the programmable features of digital Linacs
• Autonomous QA for digital Linacs
• Summary
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QA for A Modern Medical Linac: TG-142
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Modern digital Linacs
Varian TrueBeam STx with Brainlab ExacTrac
• FFF beams, Dynamic/Virtual wedges…
• 6D Couch
• MLC
• Imaging Systems: kV, MV, CBCT…
• Respiratory gating
• Special techniques: IMRT/VMAT,
SRS/SBRT…
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TG-142: A comprehensive Linac QA Guideline
• Dosimetry
• Mechanical
• Safety
• MLC
• Imaging: kV, MV, CBCT
• Respiratory gating
• Special procedures: IMRT/VMAT,
SRS/SBRT, TBI,…
Frequency: • Daily
• Monthly
• Annually
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• Dosimetry
• Mechanical
• Safety
• Imaging
• EDW/Virtual/Universal
wedge: functional
• MLC: Weekly Picket
Fence
Daily QA
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• Dosimetry
• Mechanical
• Safety
• Gating
• Wedge factors
• MLC
• Imaging
Monthly QA
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• Safety and functional
• Mechanical
• OBI isocenter accuracy
• Couch shift accuracy
• Image quality
Monthly QA---Imaging
EPID, kV imaging, CBCT
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• Dosimetry
• Mechanical
• Safety
• Gating
• Wedge angles
• MLC
• Imaging
Annual QA
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Annual QAMLC
Imaging
• Imaging dose
• Beam quality/energy
• MLC transmission
• MLC spoke shot
• Coincidence of light
and x-ray field
• IMRT/VMAT checks
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Palmer A et al, Br. J. Radiol. 2012(85) e1067–73
Need for Autonomous QA
• QA for a modern Linac has been extremely extended with new components/functions added
• QA has become a complicated and very time consuming task
Autonomous QA: More Efficient, stable and accurate
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Programmable Automatic Delivery/Operation
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From Varian Developer mode Manual
Control points and delivery trajectory
Implementation of Automatic Delivery
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Varian TrueBeam Developer Mode
Control all motion axes, beam delivery and imaging through programmable XML Beam scripts
From Varian Developer mode Manual
Veritas
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Produced by couch motion
(a) Resulting radiation pattern for Varian ‘V’ produced solely by couch motion (b) The left-right symmetry indicates high geometrical accuracy and stability of the automated couch motion
Simple Examples
Courtesy of Ben Fahimian
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Complicated Examples
TLI / CSI TrajectoryTBI Trajectory
Courtesy of Ben Fahimian
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Implementation of Autonomous QA
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An Ideal Autonomous QA Process
• One button QA• Self-calibration• Phantom pose invariant• Reduce/Remove operator dependence• Analyze results and generate QA report
Automatic Delivery& Data Acquisition
Automatic DataProcess
Automatic Analysis& Reporting
Hardware Software+
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Autonomous Imaging QA
Daily Imaging QA
• Imaging and treatment coordinate coincidence
• Couch positioning/repositioning• Winston-Lutz test
MIMI Phantom from Standard Imaging Inc.Winston-Lutz test kit from BrainLAB
1. An XML script loaded in TrueBeamdeveloper mode to automatically take MV images and CBCT images
2. Check the embedded BBs positions to verify coordinate coincidence
Gilmer Valdes et al, JACMP, Vol. 16, No. 4, 2015
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Couch positioning/repositioning
Daily Imaging QA
Couch shift a random number (0~2cm) in three
directionsTake CBCT Registration and
repositioningTake verification
CBCT
An XML script
Winston-Lutz test1. An XML Script is used to automatically acquire eight MV images with
different Gantry and Couch positions.2. An in-house developed software to process data and report the results
https://www.youtube.com/watch?v=JwOvALjRgqEGilmer Valdes et al, JACMP, Vol. 16, No. 4, 2015
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Monthly imaging QA
• Image quality • kV, MV and CBCT and treatment
coordinate coincidence
Gilmer Valdes et al, JACMP, Vol. 16, No. 4, 2015
In-house phantom mount for monthly QA
MIMI Phantom
Emma Phantom QC-3
QCkV-1
1. An XML Script is used to automatically acquire images with different Couch positions.
2. An in-house developed software to process data and report the results
Results: Physicists vs. Auto QA
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Direct visualization of Radiation
When radiation irradiates a radio-luminescent sheet fabricated from a mixture of GOS:Tb and PDMS, the irradiated area become visible.
Autonomous QA at Stanford
Is this possible to use this to improve our QA processes?
Courtesy of Cesare H JenkinsJenkins C H et al 2015 Med. Phys. 42 5–13
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Autonomous Mechanical QA
• Light Field/Radiation field coincidence
• Jaw position indicators• Cross-hair centering• Couch position indicators• Laser localization
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Components for Autonomous QA
• Phantom• Camera• Laptop
Hardware +XML Script Software+Automatic image acquisition, machine operations in TruebeamDeveloper mode
• Image process• Data analysis• Result report
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Phantom
• Structure fabricated on a MakerBot Z18 3D printer
• 2.38 mm stainless steel balls• PDMS• Gd2O2S:Tb
Optical tracking markers
Radioluminescentfaces
X-ray markers
Phantom
PDMSGOS 2.5
mm
Steel ball
Jenkins C H et al Phys. Med. Biol. 61 (2016) L29
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Camera
• Power over Ethernet (POE) machine vision camera• Single cable connection• 5mm f/2.5 S-mount lens
• 3D printed holder that connects to LINAC tray
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XML Script to implement:
• Turn on/off field light • Set jaw positions• Beam on• Rotate gantry• Turn on/off laser• Treatment couch motions• kV imaging• Set MLC
Automatic Delivery/Operations
Courtesy of Cesare H Jenkins
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Image Processing
• Image identification and capture• Transformation• Analysis
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Image identification and capture
• Known delivery sequence• Motion detection algorithm
Key images were identified based on:
Light Field Radiation Field Left Laser
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Transformation
1. Transform the pixels corresponding to the phantom face into a calibrated image space
2. The transformation was determined as the linear transform that transforms the locations of the four fiducials to their aligned locations within the calibrated image space
3. The calibrated images were analyzed to identify the locations of salient features such as field edges, cross-hairs and lasers.
• Self-calibration• Correct for variations in setup
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Analysis
• Field Edges-Fit logistic function to find location of half value
• Crosshairs and lasers-Gaussian curve fitting
• kV and MV images-Image center is projected into the calibrated coordinate space
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Light Field Radiation FieldLeft LaserImage processing example
Original images
Transformed and analyzed images
Field edges CenterCross-Hair
Jenkins C H et al Phys. Med. Biol. 61 (2016) L29
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Self-calibration Assessment
Ten measurementsSix measurements
Variations in setup has no significant influence in the measurement resultsJenkins C H et al Phys. Med. Biol. 61 (2016) L29
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Auto QA vs. Manual QA
Agree well with manual QA results
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Conclusion
• Robust automated performance• Accurate Be able to achieve 0.1mm~0.2mm accuracy,
Better/Equivalent to current clinical practice• Repeatable Invariant to setup
• More Efficient: ~10 min vs. manual 1~2 hours Set up: 7:00 min Plan delivery: 1:21 min Export DICOM: 1:00 min Clean up: 2:00 min
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Camera Cover
Scintillating Sheet
Needle Applicator• Positioning: 1.99 ± .02 cm with the system while the
result from autoradiography was 2.00 ± .03 cm• Timing: 1 second were determined to be 1.01 ± .02
second
Autonomous HDR QA
Courtesy of Cesare H Jenkins and Ben Fahimian
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Discrete Spot Scanning Proton Beam Therapy
• MeV protons delivered in bursts to a single spot• Spot can be steered in XY, modulating energy controls Bragg
peak depth (Z)• Spot delivery and modulation occurs on millisecond time
scale• Hollow cubic phantom• CMOS cameras
Spot location accuracy
Courtesy of Cesare H Jenkins
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Courtesy of Cesare H Jenkins
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Summary• QA for a modern Linac has become a complicated and very
time consuming task
• Programmable automatic delivery/operations are available for modern digital Linacs
• Autonomous QA has the potential to provide QA procedures with high efficiency and less operator/setup variation dependence
• Autonomous QA presents an attractive option for future Linac QA procedures
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Thank You!