Four dimensional cone beam computed tomography (4DCBCT) is an emerging clinical image guidance strategy for tumour sites affected by respiratory motion. In current generation 4DCBCT techniques, both the gantry rotation speed and imaging frequency are constant and independent of the patient's breathing which can lead to projection clustering. We present a mixed integer quadratic programming (MIQP) model for respiratory motion guided-4DCBCT (RMG-4DCBCT) which regulates the gantry velocity and projection time interval, in response to the patient's respiratory signal, so that a full set of evenly spaced projections can be taken in a number of phase, or displacement, bins during the respiratory cycle. In each respiratory bin, an image can be reconstructed from the projections to give a 4D view of the patient's anatomy so that the motion of the lungs, and tumour, can be observed during the breathing cycle. A solution to the full MIQP model in a practical amount of time, 10 s, is not possible with the leading commercial MIQP solvers, so a heuristic method is presented. Using parameter settings typically used on current generation 4DCBCT systems (4 min image acquisition, 1200 projections, 10 respiratory bins) and a sinusoidal breathing trace with a 4 s period, we show that the root mean square (RMS) of the angular separation between projections with displacement binning is 2.7° using existing constant gantry speed systems and 0.6° using RMG-4DCBCT. For phase based binning the RMS is 2.7° using constant gantry speed systems and 2.5° using RMG-4DCBCT. The optimization algorithm presented is a critical step on the path to developing a system for RMG-4DCBCT.

Simulation studies have shown that RT 4D CBCT reduces imaging dose while maintaining comparable image quality for phase based 4D CBCT; image quality is degraded for displacement based RT 4D CBCT in its current implementation.

Four dimensional cone beam computed tomography (4DCBCT) is an image guidance strategy used for patient positioning in radiotherapy. In conventional implementations of 4DCBCT, a constant gantry speed and a constant projection pulse rate are used. Unfortunately, this leads to higher imaging doses than are necessary because a large number of redundant projections are acquired. In theoretical studies, we have previously demonstrated that by suppressing redundant projections the imaging dose can be reduced by 40-50% for a majority of patients with little reduction in image quality. The aim of this study was to experimentally realise the projection suppression technique, which we have called Respiratory Triggered 4DCBCT (RT-4DCBCT). A real-time control system was developed that takes the respiratory signal as input and computes whether to acquire, or suppress, the next projection trigger during 4DCBCT acquisition. The CIRS dynamic thorax phantom was programmed with a 2 cm peak-to-peak motion and periods ranging from 2 to 8 s. Image quality was assessed by computing the edge response width of a 3 cm imaging insert placed in the phantom as well as the signal to noise ratio of the phantoms tissue and the contrast to noise ratio between the phantoms lung and tissue. The standard deviation in the superior-inferior direction of the 3 cm imaging insert was used to assess intra-phase bin displacement variations with a higher standard deviation implying more motion blur. The 4DCBCT imaging dose was reduced by 8.6%, 41%, 54%, 70% and 77% for patients with 2, 3, 4, 6 and 8 s breathing periods respectively when compared to conventional 4DCBCT. The standard deviation of the intra-phase bin displacement variation of the 3 cm imaging insert was reduced by between 13% and 43% indicating a more consistent position for the projections within respiratory phases. For the 4 s breathing period, the edge response width was reduced by 39% (0.8 mm) with only a 6-7% decrease in the signal to noise and contrast to noise ratios. RT-4DCBCT has been experimentally realised and reduced to practice on a linear accelerator with a measurable imaging dose reductions over conventional 4DCBCT and little degradation in image quality.

Four dimensional cone beam computed tomography (4DCBCT) images suffer from angular under sampling and bunching of projections due to a lack of feedback between the respiratory signal and the acquisition system. To address this problem, respiratory motion guided 4DCBCT (RMG-4DCBCT) regulates the gantry velocity and projection time interval, in response to the patient's respiratory signal, with the aim of acquiring evenly spaced projections in a number of phase or displacement bins during the respiratory cycle. Our previous study of RMG-4DCBCT was limited to sinusoidal breathing traces. Here we expand on that work to provide a practical algorithm for the case of real patient breathing data. We give a complete description of RMG-4DCBCT including full details on how to implement the algorithms to determine when to move the gantry and when to acquire projections in response to the patient's respiratory signal. We simulate a realistic working RMG-4DCBCT system using 112 breathing traces from 24 lung cancer patients. Acquisition used phase-based binning and parameter settings typically used on commercial 4DCBCT systems (4 min acquisition time, 1200 projections across 10 respiratory bins), with the acceleration and velocity constraints of current generation linear accelerators. We quantified streaking artefacts and image noise for conventional and RMG-4DCBCT methods by reconstructing projection data selected from an oversampled set of Catphan phantom projections. RMG-4DCBCT allows us to optimally trade-off image quality, acquisition time and image dose. For example, for the same image quality and acquisition time as conventional 4DCBCT approximately half the imaging dose is needed. Alternatively, for the same imaging dose, the image quality as measured by the signal to noise ratio, is improved by 63% on average. C-arm cone beam computed tomography systems, with an acceleration up to 200°/s(2), a velocity up to 100°/s and the acquisition of 80 projections per second, allow the image acquisition time to be reduced to below 60 s. We have made considerable progress towards realizing a system to reduce projection clustering in conventional 4DCBCT imaging and hence reduce the imaging dose to the patient.