Motion and uncertainty in radiotherapy is traditionally handled via margins. The clinical target volume (CTV) is expanded to a larger planning target volume (PTV), which is irradiated to the prescribed dose. However, the PTV concept has several limitations, especially in proton therapy. Therefore, robust and probabilistic optimization methods have been developed that directly incorporate motion and uncertainty into treatment plan optimization for intensity modulated radiotherapy (IMRT) and intensity modulated proton therapy (IMPT). Thereby, the explicit definition of a PTV becomes obsolete and treatment plan optimization is directly based on the CTV. Initial work focused on random and systematic setup errors in IMRT. Later, inter-fraction prostate motion and intra-fraction lung motion became a research focus. Over the past ten years, IMPT has emerged as a new application for robust planning methods. In proton therapy, range or setup errors may lead to dose degradation and misalignment of dose contributions from different beams -a problem that cannot generally be addressed by margins. Therefore, IMPT has led to the first implementations of robust planning methods in commercial planning systems, making these methods available for clinical use. This paper first summarizes the limitations of the PTV concept. Subsequently, robust optimization methods are introduced and their applications in IMRT and IMPT planning are reviewed.Abstract. Motion and uncertainty in radiotherapy is traditionally handled via 31 margins. The clinical target volume (CTV) is expanded to a larger planning target 32 volume (PTV), which is irradiated to the prescribed dose. However, the PTV 33 concept has several limitations, especially in proton therapy. Therefore, robust and 34 probabilistic optimization methods have been developed that directly incorporate 35 motion and uncertainty into treatment plan optimization for intensity modulated 36 radiotherapy (IMRT) and intensity modulated proton therapy (IMPT). Thereby, the 37 explicit definition of a PTV becomes obsolete and treatment plan optimization is 38 directly based on the CTV. Initial work focused on random and systematic setup errors 39 in IMRT. Later, inter-fraction prostate motion and intra-fraction lung motion became 40 a research focus. Over the past 10 years, IMPT has emerged as a new application for 41 robust planning methods. In proton therapy, range or setup errors may lead to dose 42 degradation and misalignment of dose contributions from different beams a problem 43 Robust radiotherapy planning 2 that cannot generally be addressed by margins. Therefore, IMPT has led to the first 44 implementations of robust planning methods in commercial planning systems, making 45 these methods available for clinical use. This paper first summarizes the limitations 46 of the PTV concept. Subsequently, robust optimization methods are introduced and 47 their applications in IMRT and IMPT planning are reviewed. 48 1. Introduction 49Radiotherapy aims at delivering curative doses of radiation ...