Validating robotic couch isocentricity with 3D surface imaging

BACKGROUND: A proton therapy system with 190° gantries uses robotic couch rotations to change the treatment beam laterality. Couch rotations are typically validated clinically with post‐rotation radiographic imaging. AIMS: This study assesses the specificity and sensitivity of a commercial 3D surface imaging system, AlignRT (Vision RT, London UK) for validating couch rotations. MATERIALS & METHODS: In clinical operation, a reference surface image of the patient is acquired after radiographic setup with couch at 270°, perpendicular to the gantry axis of rotation. The couch is then rotated ±90° to a typical treatment angle, and AlignRT reports a 3D displacement vector. Patient motion, changes in patient surface, non‐coincidence between AlignRT and couch isocenter, and mechanical couch run‐out all contribute to the 3D vector magnitude. To assess AlignRT sensitivity in detecting couch run‐out, volunteers were positioned orthogonal to the proton gantry and reference surface images were captured without x‐ray localization. Subjects were repeatedly rotated ±90⁰ to typical treatment angles and displacement vectors were recorded. Additionally, measurements were performed in which intentional translations of 2, 4, 6, and 8 mm were combined with the intended isocentric rotations. Data sets were collected using a phantom; subjects with a thoracic isocenter and no immobilization; and subjects with a cranial isocenter and thermoplastic immobilization. A total of 300 rotations were measured. RESULTS: During isocentric rotations, the mean AlignRT displacement vectors for the phantom, immobilized, and non‐immobilized volunteers were 0.1 ± 0.1 mm, 0.8 ± 0.1 mm, and 1.1 ± 0.2 mm respectively. 95% of the AlignRT measurements for the immobilized and non‐immobilized subjects were within 1 mm and 2 mm of the actual displacement respectively. DISCUSSION: After characterizing the accuracy using phantoms and volunteers, we have shown that a three‐pod surface imaging system can be used to identify gross non‐isocentric patient rotations. Significant positional deviations, either due to improper couch rotation or patient motion, should be followed by radiographic imaging and repositioning. CONCULSION: AlignRT can be used to verify patient positioning following couch rotations that are applied after the initial x‐ray guided patient setup. Using a three‐pod AlignRt system, positional deviations exceeding 4 mm were flagged with sensitivity and specificity of 90% and 100% respectively.