Three-dimensional computer graphics simulation and computerized numerical optimization for dose delivery and treatment planning

• US 5,205,289 A
• Filed: 06/08/1990
• Issued: 04/27/1993
• Est. Priority Date: 12/23/1988
• Status: Expired due to Fees

• Current Assignee: Medical Instrumentation and Diagnostics Corporation
• Original Assignee: Medical Instrumentation and Diagnostics Corporation
• Inventors: Hardy, Tyrone L., Brynildson, Laura D., Glover, Gary W.
• Primary Examiner(s): Howell, Kyle L.
• Application Number:
  US07/534,975
• Time in Patent Office: 1,054 Days
• Field of Search: 128/653 R, 606/130, 600/3, 600/7, 600/8, 364/413.26
• US Class Current: 600/429
• CPC Class Codes: A61B 2090/3937 Visible markers
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 90/10 for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61B 90/11 with guides for needles or instruments, e.g. arcuate slides or ball joints
• CPC Class Codes: A61N 5/1027 Interstitial radiation therapy
• CPC Class Codes: A61N 5/1031 using a specific method of dose optimization
• CPC Class Codes: G06T 17/00 Three dimensional [3D] modelling, e.g. data description of 3D objects
• CPC Class Codes: G16H 20/10 relating to drugs or medications, e.g. for ensuring correct administration to patients
• CPC Class Codes: G16H 50/50 for simulation or modelling of medical disorders

Abstract

An optimized dose delivery system using computer graphics simulation techniques and computerized numerical optimization. A volume, such as a tumor volume, is graphically simulated and meshed with node points. The dose delivery is calculated depending upon input variables, deriving an objective function related to dose efficacy. A numerical optimization algorithm optimizes the input variables based upon such objective function.

Claims

1. A method of optimizing dose delivery involving stereotactic computer techniques comprising the steps of:

1) generating and displaying graphic simulation of a predetermined volume to be dosed from image data obtained from a single one of a plurality of imaging scanners;

2) providing a stereotactic frame and thereby establishing three-dimensional coordinates about the predetermined volume to be dosed;

3) determining an enclosing volume circumscribing said predetermined volume to be dosed;

4) meshing said enclosing volume with node points;

5) providing problem variables relating to dosage;

6) calculating the dose to be delivered to each of said node points;

7) formulating an objective function for evaluating the dosage;

8) solving a numerical optimization algorithm minimizing the objective function;

9) repeating steps

     7) and

     8) until said problem variables are optimized; and

wherein the step of determining an enclosing volume circumscribing the predetermined volume to be dosed further comprises the steps of;

1) graphically simulating a calculated tumor volume as said predetermined volume;

2) calculating the centroid and major axis dimension of said calculated tumor volume; and

3) calculating and providing an enclosing volume with said centroid of said tumor volume at the center of the enclosing volume, said enclosing volume enclosing said tumor volume plus a nonpathologic margin.

2. The method of claim 1 wherein the step of meshing said enclosing volume with node points comprises the steps of:

a. assigning three-dimensional stereotactic frame coordinates to said node points;

b. determining the position of said node points relative to said predetermined volume; and

c. weighting said nodes according to their position.

3. The method of claim 1 wherein said step of providing problem variables comprises the steps of:

a. choosing isotopic seed activity;

b. orienting a catheter;

c. locating isotopic seeds along the catheter; and

d. setting upper and lower limits to said variables.

4. The method of claim 3 wherein said step of calculating the dose delivered to each of said node points comprises the steps of:

a. assigning three-dimensional stereotactic frame coordinates to the isotopic seeds; and

b. calculating individual node doses by the equation ##EQU7## wherein;

i=current node number,

j=current catheter number,

k=current seed number,

n_c =total number of catheters,

n_s =total number of seeds per catheter,

D_i =total radiation dose at node i, ##EQU8## node radiation dose from catheter j, s_jk =strength of seed k in catheter j, and

r_jk =radius from seed k in catheter j to node i.

5. The method of claim 1 wherein said step of providing problem variables comprises the steps of:

a. choosing a pattern of beam rotation relative to an isocenter;

b. selecting beam strength;

c. selecting beam collimation; and

d. setting upper and lower limits to said problem variables.

6. The method of claim 5 wherein the step of calculating the dose delivered to each of said node points comprises the steps of:

a. separating each beam path into a predetermined number of individual beams; and

b. calculating individual node doses by the equation ##EQU9## wherein;

i=current node number

j=current beam number

n_b =total number of beams,

D_i =total radiation dose at node i,

G_j (s_j,c_j,d_j)=node radiation dose from beam j,

s_j =strength of beam j,

c_j =collimation of beam j, and

d_j =direction of beam j.

7. The method of claim 1 whereon the step of formulating an objective function comprises the steps of:

a. determining whether each said node within said enclosing volume is dead or alive relative to a predetermined dose;

b. assigning each said node to one of four specific subtotals, including (1) nodes inside the predetermined volume and alive, (2) nodes inside the predetermined volume and dead, (3) nodes outside the predetermined volume and alive, and (4) nodes outside the predetermined volume and dead;

c. dividing each of said specific subtotals by the total number of nodes; and

d. summing (1) the ratio of nodes outside the predetermined volume and dead and (2) the ratio of nodes inside the predetermined volume and alive.

8. The method of claim 1 wherein the step of formulating an objective function comprises the step of assigning status factors to the nodes as follows:

(1) a value of +P for nodes inside the predetermined volume and dead, (2) a value of -1 for nodes inside the predetermined volume and alive, (3) a value of -1 for nodes outside the predetermined volume and dead, and (4) a value of 0 for nodes outside the predetermined volume and alive, wherein;

space="preserve" listing-type="equation">P=e-(D.sub.i -D.sub.o).sup.2/δ

.sup.2

D_i =Radiation dose at node i,

D_o =Predetermined dose, and

δ

=decay factor.

9. A apparatus for optimizing dose delivery involving stereotactic computer techniques comprising:

means for generating and displaying a graphic simulation of a predetermined volume to be dosed from image data obtained from a single one of a plurality or imaging scanners;

stereotactic frame means for establishing three-dimensional coordinates about the predetermined volume to be dosed;

means for determining an enclosing volume circumscribing said predetermined volume to be dosed;

means for meshing said enclosing volume with node points;

means for providing problem variables relating to dosage;

means for calculating the dose to be delivered to each of said node points;

means for formulating an objective function for evaluating the dosage;

means for solving a numerical optimization algorithm minimizing the objective function; and

wherein said means for determining an enclosing volume circumscribing the predetermined volume to be dosed comprises;

means for graphically simulating a calculated tumor volume as said predetermined volume;

means for calculating the centroid and major axis dimension of said calculated tumor volume; and

means for calculating and providing an enclosing volume with said centroid of said tumor volume at the center of the enclosing volume, said enclosing volume enclosing said tumor volume plus a nonpathologic margin.

10. The apparatus of claim 9 wherein said means for meshing said enclosing volume with node points comprises:

means for assigning three-dimensional stereotactic frame coordinates to said node points;

means for determining the position of said node points relative to said predetermined volume; and

means for weighting said nodes according to their position.

11. The apparatus of claim 9 wherein said means for providing problem variable comprises:

means for choosing isotopic seed activity;

means for orienting a catheter;

means for locating isotopic seeds along the catheter; and

means for setting upper and lower limits to said variables.

12. The apparatus of claim 11 wherein said means for calculating the dose delivered to each of said node points comprises:

means for assigning three-dimensional stereotactic frame coordinates to the isotopic seeds; and

means for calculating individual node doses by the equation ##EQU10## wherein;

i=current node number,

j=current catheter number,

k=current seed number,

n_c =total number of catheters,

n_s =total number of seeds per catheter,

D_i =total radiation dose at node i, ##EQU11## node radiation dose from catheter j, s_jk =strength of seed k in catheter j, and

r_jk =radius from seed k catheter j to node i.

13. The apparatus of claim 9 wherein said means for providing problem variables comprises:

means for choosing a pattern of beam rotation relative to an isocenter;

means for selecting beam strength;

means for selecting beam collimation; and

means for setting upper and lower limits to said problem variables.

14. The apparatus of claim 13 wherein said means for calculating the dose delivered to each of said node points comprises:

means for separating each beam path into a predetermined number of individual beams; and

means for calculating individual node doses by the equation ##EQU12## wherein;

i=current node number,

j=current beam number,

n_b =total number of beams,

D_i =total radiation dose at node i,

G_j (s_j,c_j,d_j)=node radiation dose from beam j,

s_j =strength of beam j,

c_j =collimation of beam j, and

d_j =direction of beam j.

15. The apparatus of claim 9 wherein said means for formulating an objective function comprises:

means for determining whether each said node within said enclosing volume is dead or alive relative to a predetermined dose;

means for assigning each said node to one of four specific subtotals, including (1) nodes inside the predetermined volume and alive, (2) nodes inside the predetermined volume and dead, (3) nodes outside the predetermined volume and alive, and (4) nodes outside the predetermined volume and dead;

means for dividing each of said specific subtotals by the total number of nodes; and

means for summing (1) the ratio of nodes outside the predetermined volume and dead and (2) the ratio of nodes inside the predetermined volume and alive.

16. The apparatus of claim 27 wherein said means for formulating an objective function comprises assigning status factors to the nodes as follows:

(1) a value of +P for nodes inside the predetermined volume and dead, (2) a value of -1 for nodes inside the predetermined volume and alive, (3) a value of -1 for nodes outside the predetermined volume and dead, and (4) a value of 0 for nodes outside the predetermined volume and alive, wherein;

space="preserve" listing-type="equation">P=e-(D.sub.i -D.sub.o).sup.2/δ

.sup.2

D_i =Radiation dose at node i,

D_o =Predetermined dose, and

δ

=decay factor.