Measurement Issues in Commissioning and Benchmarking of Monte Carlo Treatment Planning Systems Jan Seuntjens McGill University Montreal, Canada, H3G 1A4 jseuntjens@medphys.mcgill.ca Outline • Dosimetric accuracy requirements in treatment planning • Measurement dosimetry fundamentals • Measurement issues in commissioning • Measurement issues in verification • Conclusions AAPM Summer School, 2006 1 Clinical QA • Clinical QA protocols & guidelines – AAPM TG 53 (Fraass et al 1998) – IEC 62083 (International Electrotechnical Comission, 2000) – ESTRO (Mijnheer et al 2004) – NCS (2005) – etc. • Content of clinical QA – dosimetric verification and consistency – many other aspects of system QA and consistency AAPM Summer School, 2006 2 Dosimetric accuracy • effect of dose uncertainty on complication-free tumour control (“utility function”, Schultheiss & Boyer, 1988) • ICRU Report 24 (1976) • Mijnheer et al (1987) • Brahme (1988) 1% higher accuracy --> 2% increase of cure 5% 3.5% 3% The structures these numbers are referring to are targets. What about OAR’s? AAPM Summer School, 2006 3 Dosimetric accuracy (cont’d) Present (1 2.0 Possible (1 )? 1.0 1.1 0.5 Monitor stability 1.0 0.5 Beam flatness / symmetry 1.5 0.8 Patient data uncertainties 1.5 1.0 Beam and patient setup 2.5 1.6 Overall (excluding TPA) 4.1 2.4 Dose calculation (TPA) 1.0 / 3.0 / 5.0 0.5 / 2.0 / 4.0 Overall (including TPA) 4.2 / 5.1 / 6.5 2.4 / 3.1 / 4.7 Absorbed dose at reference point in clinic Absorbed dose at other points ) TPA: treatment planning algo. AAPM Summer School, 2006 4 Dosimetric and positional accuracy of TPA: acceptability criteria Homogeneous water slab simple fields Stack of tissue slabs simple fields antropomorphic phantom and/or complex beams central axis high dose region low dose gradient large dose gradient 2% 3% 4 mm 3% (50% loc.dose) 3% 3% 4 mm 3% (50% loc.dose) 4% 4 mm 3% (50% loc.dose) low dose region low dose gradient Van Dyk (1993) AAPM Summer School, 2006 5 Gamma analysis for testing the acceptability of dose distributions by comparing measurements and calculations Illustration of the gamma concept (Low et al 1998) for comparison of MC calculated (a) and film measured (b) two dimensional dose maps. (c) illustrates the gamma-map for tolerance criteria of 3% (dose), 5 mm (distance). ⎛ d (i ) ⎞ 2 ⎛ r (i ) ⎞ 2 ⎟⎟ + ⎜⎜ ⎟⎟ γ (i ) = min ⎜⎜ ⎝ Δd ⎠ ⎝ Δr ⎠ d (i ) = Dm (i ) − Dc r (i ) = rm (i ) − rc AAPM Summer School, 2006 for all points (Dc,rc) 6 Clinical measurement dosimetry Classification of dosimeters Dosimeter Mechanism Gas-filled ionization chamber Ionization in gasses Liquid ionization chamber Ionization in liquids Semiconductors (diodes, diamond detectors) TLD Ionization in solids Scintillation counters Fluorescence Film, gel, Fricke Chemical reactions Calorimetry Heat Luminescence AAPM Summer School, 2006 8 Measurement dosimetry in water where: dose to water at the point raw signal, corrected for environmental conditions as given by detector detector cavity dose calibration coefficient (coupling constant) dose conversion coefficient converts average detector dose into dose to water at point AAPM Summer School, 2006 9 Dosimeter dependent coefficients & coupling constants Factor or Dosimetry technique coefficient Calorimetry Fricke Ionchamber dosimetry dosimetry R cdet fmed ΔT C Unity ΔOD ρL 1 ( Fe3 + )G ε med D ( )Fricke AAPM Summer School, 2006 Q 1 Wgas mgas e smed,gasp Q 10 Interpretation of a dosimeter measurement Dmed = Ncav Ms med ,cav pQ Dcav fmed • Ncav is the cavity dose calibration factor and ties the clinical dose measurement to the chamber/detector calibration • M is the result of a measurement corrected for “technical” influence quantities to ensure that what we actually measure a quantity proportional to the dose to the detector material AAPM Summer School, 2006 11 Interpretation of a dosimeter measurement (cont’d) Dmed (r) = N cav M (r)smed,cav (r ) pQ (r ) Dcav fmed • smed,cav is the stopping power ratio medium to cavity material • pQ is an overall perturbation correction factor that accounts for everything a cavity theory does not account for fmed is the ratio of dose to medium to dose to cavity; factorization of fmed is questionable in regions of strong disequilibrium AAPM Summer School, 2006 12 Practical complications • The outlined interpretation depends on our ability to convert cavity dose to medium dose – CPE or TCPE and detector is small compared to the range of secondary electrons: • fmed can be factorized in a stopping power ratio + correction factors – If these conditions are not fulfilled: • Monte Carlo calculations (within the constraints of the algorithm and basic cross-section datasets) AAPM Summer School, 2006 13 Why is this important for commissioning and accuracy verification of TPS? For the measurement of a dose distribution: • In regions of CPE and TCPE: SPR corrections accurately represent detector response (and are small for air-filled chambers in photon beams) • In regions of non-CPE: SPR corrections DO NOT accurately reflect changes in detector response and additional, sometimes large, corrections are needed – build-up regions in any field, interface-proximal points in heterogeneous phantoms (build-up and build-down) – narrow fields – modulated fields AAPM Summer School, 2006 14 Stopping power ratios (SPR’s) • SPR’s are depth, field size, and radiation quality dependent – for reference dosimetry using ionization chambers: values based on Monte Carlo calculations and well documented – for relative dosimetry in TCPE: their variation relative to the reference point needs to be established AAPM Summer School, 2006 15 sw,air(z) for plane parallel bremsstrahlung spectra 60Co 10 MV 20 MV 30 MV Andreo and Brahme, PMB, 31, 839 (1986) Perturbation correction factors: traditional factorization for ionization chambers: PQ = Pwall Pgr Pfl Pcel • Pwall: wall perturbation • Pgr: gradient effect due to displacement of phantom material by cavity • Pfl: fluence perturbation • Pcel: central electrode perturbation AAPM Summer School, 2006 17 Perturbation correction factors • depth, field size, and radiation quality dependent – for reference dosimetry using ionization chambers: based on Monte Carlo calculations and relatively well documented – for relative dosimetry: their variation relative to the reference point is usually ignored but can be very significant AAPM Summer School, 2006 18 Ding and Wu, Med. Phys. 28, 298 (2001) Buckley and Rogers, Med. Phys. 33 455 (2006) Buckley and Rogers, Med. Phys. 33 1788 (2006) Commissioning measurements • beam model verification – in-air measurements – in-water measurements • in-phantom verification – heterogeneous measurements • reference dose measurements / system calibration AAPM Summer School, 2006 22 In-air measurements • Parameters of primary source determined – mean energy of electrons exiting the vacuum window – FWHM of intensity distribution of electron beam exiting the vacuum window • Measurement issues? – detector response can change as a function of off axis distance AAPM Summer School, 2006 23 Off axis profiles are sensitive to the energy of the primary electron source. Off axis profiles are collision kerma (to water or air) profiles. Sheikh-Bagheri & Rogers (2002) Med. Phys. 29, 379 390. AAPM Summer School, 2006 24 Off axis profiles are sensitive to the radius of the primary electron source. Build-up cap: “hevimet” Tonkopi et al (2005) Med Phys 32, 2918 - 2927 AAPM Summer School, 2006 25 In-air measurements: Which build-up cap should be used? Experimental validation of different types of b.u. caps. Tonkopi et al (2005) Med Phys 32, 2918 - 2927 AAPM Summer School, 2006 26 In-air measurements: Which build-up cap should be used? Cap that approximates collision air kerma the best? Note: 1. small difference between two cap sizes 2. -> resolution does not significantly decrease with large cap size. Tonkopi et al (2005) Med Phys 32, 2918 - 2927 AAPM Summer School, 2006 27 In-air measurements, wide beam profiles for electrons • in-air wide-field open beam profiles uncover details about – electron source parameters – scattering foils – filters in the beam AAPM Summer School, 2006 28 Wide beam profile measurements for Total Skin Electron Therapy • • • • Total skin electron therapy is an external beam technique for treating mycosis fungoides. The complicated set-up makes commissioning and treatment planning time consuming. Monte Carlo electron beam modeling for large field size has poor agreement. 4 cm In this work, we investigated the electron focal spot size by measuring with a slit camera. The MC linac model uses the measured FWHM as the source parameter for the simulation. 0.4 Collimato r 0.3 4 cm In-air profile for 40 x 40 cm2 at 100 cm SSD Jaws Lucite 1.2 scattering Primary scatterer foil at Z = 9.5 cm Fit Measurement Measurement 0.2 Relative dose Relative OD 1 20 cm Electron beam0.1 0.8 Isocenter Secondary scattering 0.6 foil at Z = 12.9 cm 0.4 0 20 24 -0.1 -40 Scattering foils MC -30 -20 Ion chamber lead (0.152 FWH 0.2 Alternating 32 mm)28and paper (0.0889 M 0 mm) sheets -10 0 10 Relative distance (mm) Off axis distance (cm) Scattering filter AAPM Summer School, 2006 20 30 40 Rotatin g platfor 29 m Source description optimization Focal spot is elliptical and has a Gaussian distribution. FWHM in lateral direction (mm) 2.40 2.10 1.80 Shift in lateral direction (mm) Focal spot shift with respect to crosshair for various electron Focal spot size for various electron energies energies 3.0 6 MeV 9 MeV 12 MeV 16 MeV 1.5 2.11, 2.24 9.0 Lateral and longitudinal shifts with respect to the crosshair is also observed for all measurements. AAPM Summer School, 2006 30 7.7, 1.4 1.87, 2.14 1.69, 2.09 60.0 MeV 9 MeV 3.0 12 MeV -1.5 16 MeV 1.50 -3.0 1.30 6.0 4.6, -0.9 6.5, -1.3 1.73, 1.75 5.7, -2.0 1.80 2.30 Shift in longitudinal direction (mm) FWHM in longitudinal direction (mm) Source description optimization Comparison of measured and calculated in-air profile for 40 x 40 cm2 at 100 cm SSD 1.2 Measurement initial MC model 1 N orm aliz ed v alue proposed MC model Proposed divergent beam model shows improved result for 40 x 40 cm2 in-air profile. 0.8 0.6 0.4 Z = 0 cm 0.2 Zvirtual = 5.92 cm 0 -40 -20 0 20 40 “Virtual source” Distance from central axis (cm) 1.60 Beryllium exit window at Z = 9 cm 0.086 mm Primary scattering foil at Z = 9.5 cm 1 mm AAPM Summer School, 2006 31 In-water beam model verification measurements • In-water measurements are frequently used for beam model optimization since: – these measurements are performed as part of a standard commissioning. – reproduction of these measurements by the MC planning system forms a core consistency test of the system’s commissioning. – reference dosimetry is carried out in water (e.g., TG-51 or IAEA TRS-398) and thus allows to link the output measured to the source’s energy and fluence parameters. AAPM Summer School, 2006 32 Different measurement issues in open photon fields in water • in-field, CPE or TCPE – standard measurement, SPR is nearly constant and represents detector response well; detector perturbations are small (point-ofmeasurement shift is 0.6*rinner upstream) • in-field, non-CPE (build-up) – non standard measurement, SPR varies modestly but does not represent variation in detector response well; detector perturbations are large, detector dependent. • penumbra (non-CPE) – detector size must be small relative to field-size and penumbra width, SPR does not represent detector response well, lateral fluence perturbations, detector dependent. • out-of-field (CPE or TCPE) – detector size must be sufficiently large to collect sufficiently large signal. SPE represents detector response well. AAPM Summer School, 2006 33 In-water off-axis measurements: Behaviour of avg. photon and avg. electron energy full lines: photons dashed lines: electrons -> stopping power ratio w/air is position independent However: wall correction changes by about 2% since contributions to ionization change for modest changes in avg. photon energy. Dohm et al (2005) Phys Med Biol 50: 1449 - 1457 AAPM Summer School, 2006 34 A14P ExRadin ionization chamber Geometry of the measuring volume Collecting electrode diameter: 1.5 mm Separation: 1 mm Effective volume of the chamber determined by electric field in chamber. Laplace equation: ∇ 2U = 0 Boundary condition: Surface potential AAPM Summer School, 2006 35 1.5 mm field special collimator Diameter of the field: 1 mm at 70 cm from the source AAPM Summer School, 2006 36 Narrow 1.5 mm field Average energies at d=2.5 cm 4 Electrons Photons 3 2 1 0 0 2 4 6 8 10 Off-axis distance (mm) AAPM Summer School, 2006 37 Narrow 1.5 mm field Fluence at d= 2.5 cm normalized to the central axis value 1.2 Electrons 1.0 Photons 0.8 Dose profile 0.6 0.4 0.2 0.0 0 2 4 Off-axis distance (mm) 6 AAPM Summer School, 2006 8 38 Narrow 1.5 mm field Dose water-to-air ratio 1.7 1.6 1.5 1.4 1.3 1.2 1.1 1 0.9 0.8 0 2 4 6 8 Off-axis distance (mm) AAPM Summer School, 2006 39 Narrow 1.5 mm field OAR at d = 2.5 cm measured with A14P 1.2 A14P 1 A14P corrected 0.8 A14P corrected and deconvolved 0.6 0.4 0.2 0 -8 -6 -4 -2 0 2 Off-axis distance (mm) AAPM Summer School, 2006 4 6 8 40 Narrow 1.5 mm field OAR at d=2.5 cm 1.2 HS film 1 Monte Carlo 0.8 A14P corrected and deconvolved 0.6 0.4 0.2 0 -8 -6 -4 -2 0 2 4 6 8 Off-axis dstance (mm) AAPM Summer School, 2006 41 Build-up dose measurements • Build-up dose calculations are challenging but may be clinically important for DVH’s of superficial structures. However: – Discrepancies have been reported between measured and calculated build-up doses at high photon energies. – Benchmark measurements are needed to ensure the system accurately calculates dose in the buildup region. – Benchmark measurements are prone to uncertainties ranging up to 50% of the local dose. AAPM Summer School, 2006 42 Buildup region – 6 MV - 10x10 cm2 100 EGSnrc NACP PEREGRINE 80 Relative Dose (%) 60 13% discrepancy 60 50 40 40 20 0 30 0.0 0.0 0.5 Depth in water (cm) 0.1 0.2 1.0 Buildup region – 6 MV- 40x40 cm2 100 NACP EGSnrc PEREGRINE 80 Relative Dose (%) 80 10% discrepancy 60 70 40 60 20 50 0 0.0 0.0 0.1 0.5 0.2 1.0 Depth in water (cm) 1.5 NACP chamber response in buildup region ⎛ Q ⎞⎛ W ⎞ Dcav = ⎜ ⎟⎜ ⎟ ⎝ mair ⎠ ⎝ e ⎠air Dcav (d) = Q(d) Dcav (dmax ) Q(dmax ) NACP DOSRZnrc cavity simulations measurement Field size (cm2) Calculated relative surface cavity dose Measured relative surface ionization 10x10 45 ± 1 % 47 ± 2 % 40x40 67 ± 2 % 69.0 ± 0.3 % AAPM Summer School, 2006 45 Perturbation correction factors – 10x10 cm2 ⎛ ⎜ ⎜ ⎜ ⎝ Dwater (d ) = Dcav (d ) L(d ) ρ ⎞ ⎟ ⎟ ⎟ ⎠ water air water (d ) Φ air Depth (cm) Perturbation correction 0.0 0.78 ± 0.02 1.5 0.99 ± 0.008 AAPM Summer School, 2006 46 Sources of chamber perturbation guard ring Effective point of measurement? 3 mm 5 mm AAPM Summer School, 2006 47 Buildup region – 10x10 cm2 100 80 Relative Dose (%) EGSnrc 60 PEREGRINE 40 PEREGRINE overestimates dose near surface by 6% 20 0 0.0 0.5 Depth in water (cm) 1.0 Reconciling measurements and calculations in the build-up region by adjusting EPOM ->simple if it works; but is chamber dependent! Kawrakow (2006) Med. Phys. 33, 1829 AAPM Summer School, 2006 49 Measurements in the presence of beam modifiers - MLC’s • Leakage and Transmission – – – – contributes >10% of open field dose in IMRT spectrum (beam hardening) contribution to organs at risk widening of penumbra (rounded leaf ends) • Tongue and groove effect – 10-15% under-dosing for static fields – no detailed study for IMRT AAPM Summer School, 2006 50 Across leaf bank 100 IC04 DYNVMLC Relative Dose (%) 80 60 40 20 0 -15 -10 -5 0 Inplane (cm) 5 10 15 Along direction of leaf motion 100 IC04 DYNVMLC Relative Dose (%) 80 60 BEAM profiles systematically narrower (1-2 mm) 40 20 0 -15 -10 -5 0 Crossplane (cm) 5 10 15 Validation – 5 cm offset inplane 100 DYNVMLC IC04 crossplane Relative Dose (%) 80 60 40 5 cm 20 0 -15 -10 -5 Crossplane (cm) 0 5 MLC bar pattern + Inplane Relative Dose (normalized to open field) 100 80 DYNVMLC Diode 60 40 20 0 -25 -20 -15 -10 -5 0 5 10 15 20 Inplane (cm) AAPM Summer School, 2006 54 25 100 MC CA24 Film Rel. Dose (%) 80 60 40 20 0 -8 -6 -4 -2 0 2 4 6 8 Crossplane (cm) 100 CA24 MC Film Rel. Dose (%) 80 Static Delivery 60 40 20 0 -8 -6 -4 -2 0 Inplane (cm) 2 4 6 8 Importance of beam modeling for 3D-CRT Monte Carlo – all tissues to water CADplan All tissues to water, plan 2 120 100 80 cord 60 The conventional planning system uses a pencil beam algorithm once MLC is used as beam shaping device 40 CADplan xVMC 20 0 0 200 400 600 800 Dose (cGy) 1000 1200 1400 Validation – MLC leakage Leaf material density and abutting leaf air gap were chosen to match simulated MLC leakage profiles with film measurements • leaf gaps measured physically • measured leakage is sensitive to measurement configuration • simulation should match measurement geometry AAPM Summer School, 2006 58 Interleaf leakage at 2 cm offset • density = 17.7 g/cm3 Film Relative Dose normalized to Open field • interleaf air gap = 0.0057 cm 2.0 BEAMnrc/DOSXYZnrc 1.5 1.0 0.5 0.0 -6 -4 -2 0 2 4 6 Inplane (cm) AAPM Summer School, 2006 59 Interleaf leakage at 4 cm offset 0.2- 0.3 % increase in transmission due to leaf driving screw hole 2.0 Relative Dose normalized to Open field • 1.5 BEAMnrc/DOSXYZnrc 1.0 Film 0.5 0.0 -6 -4 -2 0 2 4 6 Inplane (cm) AAPM Summer School, 2006 60 Leakage between abutting leaves • abutting leaf gap = 0.004 cm Relative dose normalized to open field 30 25 Film BEAMnrc/DOSXYZnrc 20 15 10 5 0 -5 -4 -3 -2 -1 0 1 2 3 4 Crossplane (cm) AAPM Summer School, 2006 61 5 Depth dose profiles 100 IC04 10x10 Relative Dose (%) 80 DYNVMLC DYNVML 20x20 2x2 60 4x4 40 20 0 0 5 10 15 Depth in water (cm) 20 25 100 Rel. Dose (%) 80 MC film CA24 60 40 Film measurement uncertainty ? 20 0 -8 -6 -4 -2 0 2 4 6 8 Crossplane (cm) 100 Rel. Dose (%) 80 Dynamic Delivery MC Film CA24 60 40 20 0 -8 -6 -4 -2 0 Inplane (cm) 2 4 6 8 IMRT pattern EDR2 d=1.5 cm ~200 cGy (0.022 x 0.022 cm2 pixels) BEAMnrc/DOSXYZnrc (0.22 x 0.22 x 1 cm3 voxels) IMRT pattern rms diff = 3.5 % Some conclusions on “Measurements in the presence of beam modifiers” • Use suitable detectors: photon diode, small volume ionization chamber, diamond detector, radiochromic film (EBT - humidity effects!) • MLC leakage, transmission and field definition calculations need to agree with measurements - think about dose calculations to organs at risk!! – measurements are used to optimize dimensions and properties in calculation model – the beam model must be realistic to ensure proper OAR dose calculations ALSO for non-IMRT planning – therefore: contact manufacturer if you are sure of your measurements and agreement is not obtained AAPM Summer School, 2006 66 In-phantom measurements to verify dose calculation accuracy • Assuming beam models have been verified and found accurate, inherent dose calculation accuracy in patient or phantom may be compromised by implementation issues such as: – voxel-to-region alignment, voxel sizes – CT - interaction coefficient conversion – runtime limitations, smoothing options • Verification is needed in heterogeneous phantoms – simple, slab-based phantoms – more complex heterogeneous phantoms AAPM Summer School, 2006 67 Slab Phantoms, photon beam, 6 MV (Gammex -RMI, tissue equivalent materials): 1.0 cm SW 3.0 cm bone 1.0 cm SW 6.0 cm lung 20.0 cm SW 20.0 cm SW fluence perturbation of TLD in narrow field? Heath et al 2004 AAPM Summer School, 2006 69 Heath et al 2004 AAPM Summer School, 2006 70 TLD-700 response as a function of accumulated dose… Slab Phantoms, electron beams (Gammex -RMI, tissue equivalent materials): 1.0 cm 1.1 cm SW bone 3.0 cm SW 6.0 cm SW 6.0 cm lung 9.0 cm SW Doucet et al 2003 15 MeV electrons Doucet et al 2003 9 MeV electrons Pq (16, med ) = 1.014 0.4% Pq (dmax ,SW ) Doucet et al 2003 15 MeV electrons Doucet et al 2003 9 MeV electrons Doucet et al 2003 Water phantom, Al rod on central axis, 15 MeV Doucet et al 2003 Doucet et al 2003 More complex, realistic heterogeneous phantoms … Layered lung-equivalent phantom (a) full slab and (b), tumor geometry used in the measurement of dose. (Charland et al 2003) AAPM Summer School, 2006 79 Direct verification of treatment plans, realistic phantoms (a) (b) Bone-equivalent hard boneCheek bone equiv. air-equiv. example detector locations Air –equivalent sinus Tissue – tissue-equiv. equivalent tumor ~ 15 cm tissue-equiv. Air-equivalent trachea soft-bone equiv. Spinal cord (a) sample detector locations within an anthropomorphic lung phantom; (b) phantom with interchangeable air, bone, and tissue equivalent rods at illustrated locations, mimicking head/neck tissues. AAPM Summer School, 2006 80 Conclusions • • • • • Measurement issues are an important component of commissioning and verification of a MC TP system. The user of an MC-based TP system must be aware of complications in measurements in non-equilibrium situations. Suitability of detectors for a given purpose must be assessed when planning system accuracy in these regions is at stake. MC planning has the potential to be dosimetrically superior to conventional planning systems especially in dose estimations for OAR’s -> BUT: to this end, extra validation is needed. Commissioning and verification should also carefully deal with the other components of the implementation such as CT to interaction coefficient conversion procedure, voxel statistics, smoothing functions, etc all of which are specific to MC planning systems. AAPM Summer School, 2006 81 Acknowledgments • • • • Students: Emily Heath, Kristin Stewart, Khalid Al-Yahya, Keyvan Jabbari, Andrew Alexander, Adam Elliott Post-doc: Gabriela Stroian Staff: Frank Verhaegen, Wamied Abdel-Rahman, Slobodan Devic, Ervin Podgorsak, Michael Evans, William Parker Funding (operating): Canadian Inst. Health Research (CIHR), National Cancer Inst. Canada (NCIC), Natural Sciences and Engineering Research Council (NSERC) AAPM Summer School, 2006 82