Controlling motion prediction errors in radiotherapy with relevance vector machines.
OBJECTIVE
Robotic radiotherapy can precisely ablate moving tumors when time latencies have been compensated. Recently, relevance vector machines (RVM), a probabilistic regression technique, outperformed six other prediction algorithms for respiratory compensation. The method has the distinct advantage that each predicted point is assumed to be drawn from a normal distribution. Second-order statistics, the predicted variance, were used to control RVM prediction error during a treatment and to construct hybrid prediction algorithms.


METHODS
First, the duty cycle and the precision were correlated to the variance by interrupting the treatment if the variance exceeds a threshold. Second, two hybrid algorithms based on the variance were developed, one consisting of multiple RVMs (HYB(RVM)) and the other of a combination between a wavelet-based least mean square algorithm (wLMS) and a RVM (HYB(wLMS-RVM)). The variance for different motion traces was analyzed to reveal a characteristic variance pattern which gives insight in what kind of prediction errors can be controlled by the variance.


RESULTS
Limiting the variance by a threshold resulted in an increased precision with a decreased duty cycle. All hybrid algorithms showed an increased prediction accuracy compared to using only their individual algorithms. The best hybrid algorithm, HYB(RVM), can decrease the mean RMSE over all 304 motion traces from 0.18 mm for a linear RVM to 0.17 mm.


CONCLUSIONS
The predicted variance was shown to be an efficient metric to control prediction errors, resulting in a more robust radiotherapy treatment. The hybrid algorithm HYB(RVM) could be translated to clinical practice. It does not require further parameters, can be completely parallelised and easily further extended.
Institute for Robotics and Cognitive Systems, University of Luebeck, Ratzeburger Allee 160, Lübeck, Germany, duerichen@rob.uni-luebeck.de.
Robert
R
Dürichen
Tobias
T
Wissel
Achim
A
Schweikard
D000465:Algorithms; D006801:Humans; D009038:Motion; D011336:Probability; D011881:Radiotherapy, Computer-Assisted / Q000379:methods*; D012044:Regression Analysis; D012119:Respiration; D012371:Robotics