HDR planning principles for prostate brachytherapy
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Transcript of HDR planning principles for prostate brachytherapy
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
HDR Planning Principles
Frank-André Siebert
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
HDR Planning Principles
Equipment Imaging Dose calculation and planning Workflow Specials
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
Basics
HDR Afterloading device
Source cable
moveable Implant needle
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
Basics
Iridium-192 T1/2 = 73.81 days Effective energy = 0.3719 MeV Length: 3.5 - 5 mm Diameter: about 1 mm
Source
HDR: High Dose Rate > 12 Gy/h
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
Basics
• Parallel implant geometry • Dwell positions (1), discrete • Dwell times (2)
Step size, e.g. 5 mm
Dwell positions with dwell times
⇒ Two variables for treatment planning
⇒ IMBT Intensity Modulated Brachytherapy
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
5s 5s
5s
5s
5s
5s
5s
5s
5s
4s
4s
2.7s
5s
Dwell times and dwell positions
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
Basics
Rivard et al. Update of AAPM Task Group No. 43 Report: A revised AAPM protocol for brachytherapy dose calculations. Med Phys 2004
TG-43 Formalismus
Sk: Air-Kerma-Strength Λ: Dose-Rate constant GL: Geometry function gL: Radial Dose function F: Anisotropy function
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
The evolution of brachytherapy treatment planning Rivard et al. Med Phys 36(6), 2009
Recommendations of the AAPM/ESTRO/ABS TG-186 (just submitted)
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
How / when do we perform the treatment planning ?
Preplanning
Intra-operative planning
some days before implantation
in the operation theatre
CT-based postimplant procedure
• Different timing • Different images • Same treatment planning
techniques
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
Basics
Treatment planning techniques:
1. Forward planning 2. Geometrical optimization 3. Inverse planning (volume optimization) 4. Combinations 1.-3.
How can I persuade the planning computer to calculate a proper plan?
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
Forward planning
• User biased • Needs experience • Fast
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
Forward planning, shaping tools
Good tools, but check the dwell times!
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
Geometrical optimization
Ti
Pref
• Relative dwell times are inversely proportional to the distance to other dwell positions
• Can be normalized to reference point • Very fast • Not based on anatomy
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
Geometrical optimization
• Easy to use • Not anatomy based
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
Inverse Planning
Dose constraints for individual organs needed
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
Inverse planning
Convert dose distribution Di to penalty value wi (dij: dose rate matrix)
8.5 Gy
Ene
rgy
E.g. Dprostate ≥ 8.5Gy
(Summation over all dose points)
(Summation over clinical criteria)
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
Inverse planning
E
Iterations
Dwell times tj change until global minimum EMin is reached.
EMin
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
Inverse Planning
No one-click solution
Constraints must be adapted
User-independant solution
Can save time
Check the results
Optimal result
Inverse planning
?
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy B. Lachange et al. IJROBP 2002 (54) 86-100
IPSA better than geometrical optimization
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Comparison of Conventional and Inverse Planning
Campus Kiel, Clinic of Radiotherapy
Conventional Planning
(CP)
Inverse Planning
(IP)
p-Value
D90 CTV1 [Gy] 5.62 5.63 0.67
D90 CTV2 [Gy] 11.03 10.89 0.38
V200 CTV1 [%] 29.83 29.87 0.80
V200 CTV2 [%] 5.76 8.14 <0.01
COIN CTV1 0.26 0.30 0.17
COIN CTV2 0.54 0.52 0.86
D2cc Rectum [Gy] 6.04 6.12 0.09
D0.1cc Urethra [Gy] 9.57 9.52 0.34
Dosimetric and quantitative parameters used for analysis. The means of 38 plans considered are shown. Statistically significant is only the difference in V200 for CTV2. The inverse planning still tends to so-called hot spots, although dwell smooth function had been set to 100%.
Wolf et al. Radiother Oncol 103: S134 (Supplement 2).
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy Med Phys 2011 Milickovic et al.
The observed average displacement of needles (1 mm) and of prostate (0.57 mm) is quite small as compared with the average displacement noted in several other reports
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy Med Phys 2011 Milickovic et al.
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
Kiel method for HDR prostate (boost) : Setup
Preparation of patient: enema the evening before or Glycilax® in the morning before treatment
Patient positioning in lithotomy position (spinal / global anesthesia)
Transrectal ultrasound (TRUS)
Stepper unit
Parallel needle guidance by template
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
Kiel concept of HDR-Brachytherapy for prostate cancer
Prostate volume < 60 ml
Staging: T1-T3
Distance rectum to prostate > 5 mm
BT: 2 x 15 Gy plus EBRT:
50 Gy (pelvis), 40 Gy (prostate)
BT 15 Gy Finish Start BT 15 Gy
EBRT 20 Gy 2 weeks
EBRT 20 Gy 2 weeks
EBRT of pelvis 10 Gy 1 week
Prostate block in 0° and 180°
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
Kiel concept of HDR-Brachytherapy for prostate cancer
Hardware: B&K TRUS Profocus 2202 scanner, transducer type 8848
AccuSeed DSTM floor mounted stepper
3.33 mm template
Trocar point steel needles
Philips C-arm
GammaMedPlusTM afterloader
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
AccuSeed DS stepper with BK 8656 transducer
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
Biplane TRUS
Transversal image acquisition (2D)
∆z=2.5mm
Longitudinal image acquisition (2D)
∆Θ
3D dataset
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
at z=1 cm
Transversal image acquisition (2D) Longitudinal image acquisition (2D) and reconstruction
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
Teamwork is essential
Urologist
Technician, nurse, …
Radiotherapist Physicist
Anesthetist
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
Kiel: U-shape form of needles Needle positions are set by experience
dist.: 5-10 mm Use information of biopsy report
Needle implantation
Geometry is essential
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
Ultrasound Acquisition
Definition of reference plane
VitesseTM 2.0
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
Needle detection in transversal plane
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
Needle tip detection in longitudinal plane
Stepper with encoder is sending dΘ and dz to planning system
dz
dΘ
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
Contouring
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
Needle curvature
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
Dose calculation:
Source stepping distance: 5 mm
Maximum dwell times: 12 s
Dwell time resolution 1/10 s
Dose prescription
CTV1: 15 Gy (Periphery)
CTV2: 8-9 Gy (Prostate gland)
Urethra dose: < 10 Gy
Rectum dose: < 8 Gy
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
Dose calculation in BrachyVision
1. Step: 4s dwell time at each position (336s)
1. Step in dose calculation: Set all dwell times constant to 4 s (336 s)
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
Dose calculation in BrachyVision
2. Step: manual optimization of dwell times (331s)
2. Step in dose calculation: Manual optimization (313 s)
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
Time schematic for operation room (OR)
Time
0‘ 5‘ 15‘ 30‘ 40‘ 50‘ 51‘ 60‘ 65‘ 70‘ 75‘ 90‘
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
Transfer to afterloader console
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
Practical hints
Correct connection of Transfer tubes
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy Check channel numbers !
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
„Crossed“ needles
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
Practical hints
Good US image quality necessary Patient must be well prepared Avoid patient movements US balloon without air bubbles Enhanced urethra visibility by foamy gel in catheter
Insert needles with speed and force Tilt needle if possible and necessary
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
Practical hints
Ultrasound set-up Very important Check proper fixation probe on stepper Few pressure on prostate
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
Practical hints
Needle tip not clearly visible Compare needle ends to known needle positions
?
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
Deflating the balloon from 30ml to 0ml
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Needle tip reconstruction
Siebert et al. Med Phys 2009 Frequency: 9 MHz
15 dB
-15 dB
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
Implant needle tip
Tip End of hollow part
First dwell position
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
Intra-operative HDR planning
Disadvantages Working under pressure of time. Whole team must be present.
Advantages: We know with high accuracy
where the dose will be delivered. Situation of treatment plan is
close to reality. Whole team is present.
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
Campus Kiel, Clinic of Radiotherapy
Checklist: HDR program (new / improvement)
Literature research, courses (e.g. ESTRO) Patient selection Equipment: hardware, software, imaging Radiation protection Configure TPS Prescription dose, dose constraints Training Dummy run (phantom) Establish QA program …
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UNIVERSITÄTSKLINIKUM Schleswig-Holstein UNIVERSITÄTSKLINIKUM Schleswig-Holstein
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Campus Kiel, Clinic of Radiotherapy