title: Implementation and experimental results of 4D tumor tracking using robotic couch.
abstract: OBJECTIVE
  This study presents the implementation and experimental results of a novel technique for 4D tumor tracking using a commercially available and commonly used treatment couch and evaluates the tumor tracking accuracy in clinical settings.
  
  
  METHODS
  Commercially available couch is capable of positioning the patient accurately; however, currently there is no provision for compensating physiological movement using the treatment couch in real-time. In this paper, a real-time couch tracking control technique is presented together with experimental results in tumor motion compensation in four dimensions (superior-inferior, lateral, anterior-posterior, and time). To implement real-time couch motion for tracking, a novel control system for the treatment couch was developed. The primary functional requirements for this novel technique were: (a) the treatment couch should maintain all previous∕normal features for patient setup and positioning, (b) the new control system should be used as a parallel system when tumor tracking would be deployed, and (c) tracking could be performed in a single direction and∕or concurrently in all three directions of the couch motion (longitudinal, lateral, and vertical). To the authors' best knowledge, the implementation of such technique to a regular treatment couch for tumor tracking has not been reported so far. To evaluate the performance of the tracking couch, we investigated the mechanical characteristics of the system such as system positioning resolution, repeatability, accuracy, and tracking performance. Performance of the tracking system was evaluated using dosimetric test as an endpoint. To investigate the accuracy of real-time tracking in the clinical setting, the existing clinical treatment couch was replaced with our experimental couch and the linear accelerator was used to deliver 3D conformal radiation therapy (3D-CRT) and intensity modulated radiation therapy (IMRT) treatment plans with and without tracking. The results of radiation dose distribution from these two sets of experiments were compared and presented here.
  
  
  RESULTS
  The mechanical accuracies were 0.12, 0.14, and 0.18 mm in X, Y, and Z directions. The repeatability of the desired motion was within ±0.2 mm. The differences of central axis dose between the 3D-CRT stationary plan and two tracking plans with different motion trajectories were 0.21% and 1.19%. The absolute dose differences of both 3D tracking plans comparing to the stationary plan were 1.09% and 1.20%. Comparing the stationary IMRT plan with the tracking IMRT plan, it was observed that the central axis dose difference was -0.87% and the absolute difference of both IMRT plans was 0.55%.
  
  
  CONCLUSIONS
  The experimental results revealed that the treatment couch could be successfully used for real-time tumor tracking with a high level of accuracy. It was demonstrated that 4D tumor tracking was feasible using existing couch with implementation of appropriate tracking methodology and with modifications in the control system.
authors.affiliation: Department of Radiation Oncology, Thomas Jefferson University, Philadelphia, PA 19107, USA.
authors.forename: I
authors.initials: I
authors.lastname: Buzurovic
authors.forename: Y
authors.initials: Y
authors.lastname: Yu
authors.forename: M
authors.initials: M
authors.lastname: Werner-Wasik
authors.forename: T
authors.initials: T
authors.lastname: Biswas
authors.forename: P R
authors.initials: PR
authors.lastname: Anne
authors.forename: A P
authors.initials: AP
authors.lastname: Dicker
authors.forename: T K
authors.initials: TK
authors.lastname: Podder
mesh_terms: D055595:Mechanical Phenomena; D009068:Movement; D009369:Neoplasms / Q000532:radiotherapy*; D019047:Phantoms, Imaging; D011874:Radiometry; D011881:Radiotherapy, Computer-Assisted / Q000295:instrumentation*; D012371:Robotics