The purpose of this work is to create a decision support methodology to predict when patients undergoing radiotherapy treatment for locally advanced lung cancer would potentially benefit from adaptive radiotherapy. The proposed methodology seeks to eliminate the manual subjective review by developing an automated statistical learning model to predict when tumor regression would trigger implementation of adaptive radiotherapy based on quantified anatomic changes observed in individual patients on-treatment cone beam computed tomographies (CTs). This proposed process seeks to improve the efficacy and efficiency of both the existing manual and automated adaptive review processes for locally advanced stage III lung cancer. Methods: A predictive algorithm was developed as a decision support tool to determine the potential utility of mid-treatment adaptive radiotherapy based on anatomic changes observed on 1158 daily CBCT images across 43 patients. The anatomic changes on each axial slice within specified regionsof-interest were quantified into a single value utilizing imaging similarity criteria comparing the daily CBCT to the initial simulation CT. The range of the quantified metrics for each fraction across all axial slices are reduced to specified quantiles, which are used as the predictive input to train a logistic regression algorithm. A "ground-truth" of the need for adaptive radiotherapy based on tumor regression was evaluated systematically on each of the daily CBCTs and used as the classifier in the logistic regression algorithm. Accuracy of the predictive model was assessed utilizing both a tenfold cross validation and an independent validation dataset, with the sensitivity, specificity, and fractional accuracy compared to the ground-truth. Results: The sensitivity and specificity for the individual daily fractions ranged from 87.9%-94.3% and 91.9%-98.6% for a probability threshold of 0.2-0.5, respectively. The corresponding average treatment fraction difference between the model predictions and assessed ART "ground-truth" ranged from À2.25 to À0.07 fractions, with the model predictions consistently predicting the potential need for ART earlier in the treatment course. By initially utilizing a lower probability threshold, the higher sensitivity minimizes the chance of false negative by alerting the clinician to review a higher number of questionable cases. Conclusions: The proposed methodology accurately predicted the first fraction at which individual patients may benefit from ART based on quantified anatomic changes observed in the on-treatment volumetric imaging. The generalizability of the proposed method has potential to expand to additional modes of adaptive radiotherapy for lung cancer patients with observed underlying anatomic changes.
MR-guided radiotherapy (MRgRT) systems provide excellent soft tissue imaging immediately prior to and in real time during radiation delivery for cancer treatment. However, 2D cine MRI often has limited spatial resolution due to high temporal resolution. This work applies a super resolution machine learning framework to 3.5 mm pixel edge length, low resolution (LR), sagittal 2D cine MRI images acquired on a MRgRT system to generate 0.9 mm pixel edge length, super resolution (SR), images originally acquired at 4 frames per second (FPS). LR images were collected from 50 pancreatic cancer patients treated on a ViewRay MR-LINAC. SR images were evaluated using three methods. 1) The first method utilized intrinsic image quality metrics for evaluation. 2) The second used relative metrics including edge detection and structural similarity index (SSIM). 3) Finally, automatically generated tumor contours were created on both low resolution and super resolution images to evaluate target delineation and compared with DICE and SSIM. Intrinsic image quality metrics all had statistically significant improvements for SR images versus LR images, with mean (±1 SD) BRISQUE scores of 29.65±2.98 and 42.48±0.98 for SR and LR, respectively. SR images showed good agreement with LR images in SSIM evaluation, indicating there was not significant distortion of the images. Comparison of LR and SR images with paired high resolution (HR) 3D images showed that SR images had a mean (±1 SD) SSIM value of 0.633±0.063 and LR a value of 0.587±0.067 (p = 0.05). Contours generated on SR images were also more robust to noise addition than those generated on LR images. This study shows that super resolution with a machine learning framework can generate high spatial resolution images from 4fps low spatial resolution cine MRI acquired on the ViewRay MR-LINAC while maintaining tumor contour quality and without significant acquisition or post processing delay.
Ethos adaptive radiotherapy (ART) is emerging with AI-enhanced adaptive planning and high-quality cone-beam computed tomography (CBCT). Although a respiratory motion management solution is critical for reducing motion artifacts on abdominothoracic CBCT and improving tumor motion control during beam delivery, our institutional Ethos system has not incorporated a commercial solution. Here we developed an institutional visually guided respiratory motion management system to coach patients in regular breathing or breath hold during intrafractional CBCT scans and beam delivery with Ethos ART. Methods: The institutional visual-guidance respiratory motion management system has three components: (1) a respiratory motion detection system, (2) an in-room display system, and (3) a respiratory motion trace management software. Each component has been developed and implemented in the clinical Ethos ART workflow. The applicability of the solution was demonstrated in installation, routine QA, and clinical workflow. Results: An air pressure sensor has been utilized to detect patient respiratory motion in real time. Either a commercial or in-house software handled respiratory motion trace display, collection and visualization for operators, and visual guidance for patients. An extended screen and a projector on an adjustable stand were installed as the in-room visual guidance solution for the closed-bore ring gantry medical linear accelerator utilized by Ethos. Consistent respiratory motion traces and organ positions on intrafractional CBCTs demonstrated the clinical suitability of the proposed solution in Ethos ART. Conclusion:The study demonstrated the utilization of an institutional visually guided respiratory motion management system for Ethos ART. The proposed solution can be easily applied for Ethos ART and adapted for use with any closed bore-type system, such as computed tomography and magnetic resonance imaging, through incorporation with appropriate respiratory motion sensors.
Constrained optimal control problem of unmanned aerial vehicle (UAV) which is also called aerial robotics is studied in this paper. The nonlinear system of small unmanned helicopter with bounded disturbance is abstracted and modeled by PWA hybrid systems model. As the complexity on-line computation for a class of large hybrid systems, an explicit optimal controller for hybrid systems based on multi-parametric quadratic programming (mp-QP) is proposed. The feasible domain which is the maximal controlled invariant sets for hybrid systems is partitioned in backward dynamic programming by mp-QP method. At each step, one step reachable sets are computed, optimal control laws are constructed to the corresponding regions, and the explicit optimal controller is obtained. Finally simulation results verify the effectiveness of the proposed control method.
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