title: Development and evaluation of a prototype tracking system using the treatment couch.
abstract: OBJECTIVE
  Tumor motion increases safety margins around the clinical target volume and leads to an increased dose to the surrounding healthy tissue. The authors have developed and evaluated a one-dimensional treatment couch tracking system to counter steer respiratory tumor motion. Three different motion detection sensors with different lag times were evaluated.
  
  
  METHODS
  The couch tracking system consists of a motion detection sensor, which can be the topometrical system Topos (Cyber Technologies, Germany), the respiratory gating system RPM (Varian Medical Systems) or a laser triangulation system (Micro Epsilon), and the Protura treatment couch (Civco Medical Systems). The control of the treatment couch was implemented in the block diagram environment Simulink (MathWorks). To achieve real time performance, the Simulink models were executed on a real time engine, provided by Real-Time Windows Target (MathWorks). A proportional-integral control system was implemented. The lag time of the couch tracking system using the three different motion detection sensors was measured. The geometrical accuracy of the system was evaluated by measuring the mean absolute deviation from the reference (static position) during motion tracking. This deviation was compared to the mean absolute deviation without tracking and a reduction factor was defined. A hexapod system was moving according to seven respiration patterns previously acquired with the RPM system as well as according to a sin(6) function with two different frequencies (0.33 and 0.17 Hz) and the treatment table compensated the motion.
  
  
  RESULTS
  A prototype system for treatment couch tracking of respiratory motion was developed. The laser based tracking system with a small lag time of 57 ms reduced the residual motion by a factor of 11.9 ± 5.5 (mean value ± standard deviation). An increase in delay time from 57 to 130 ms (RPM based system) resulted in a reduction by a factor of 4.7 ± 2.6. The Topos based tracking system with the largest lag time of 300 ms achieved a mean reduction by a factor of 3.4 ± 2.3. The increase in the penumbra of a profile (1 × 1 cm(2)) for a motion of 6 mm was 1.4 mm. With tracking applied there was no increase in the penumbra.
  
  
  CONCLUSIONS
  Couch tracking with the Protura treatment couch is achievable. To reliably track all possible respiration patterns without prediction filters a short lag time below 100 ms is needed. More scientific work is necessary to extend our prototype to tracking of internal motion.
authors: Department of Radiation Oncology, University Hospital Zurich, 8091 Zurich, Switzerland.
authors: Stephanie
authors: S
authors: Lang
authors: Department of Radiation Oncology, University Hospital Zurich, 8091 Zurich, Switzerland and Department of Mechanical and Process Engineering, Institute for Dynamic Systems and Control, ETH Zurich, 8092 Zurich, Switzerland.
authors: Jörg
authors: J
authors: Zeimetz
authors: Department of Mechanical and Process Engineering, Institute for Dynamic Systems and Control, ETH Zurich, 8092 Zurich, Switzerland.
authors: Gregor
authors: G
authors: Ochsner
authors: Department of Mechanical and Process Engineering, Institute for Dynamic Systems and Control, ETH Zurich, 8092 Zurich, Switzerland.
authors: Marianne
authors: M
authors: Schmid Daners
authors: Department of Radiation Oncology, University Hospital Zurich, 8091 Zurich, Switzerland.
authors: Oliver
authors: O
authors: Riesterer
authors: Department of Radiation Oncology, University Hospital Zurich, 8091 Zurich, Switzerland.
authors: Stephan
authors: S
authors: Klöck
mesh_terms: D000465:Algorithms; D006801:Humans; D009068:Movement; D009369:Neoplasms / Q000503:physiopathology / Q000532:radiotherapy; D011874:Radiometry; D011881:Radiotherapy, Computer-Assisted / Q000295:instrumentation*; D013997:Time Factors