Real-time liver tracking algorithm based on LSTM and SVR networks for use in surface-guided radiation therapy

BACKGROUND: Surface-guided radiation therapy can be used to continuously monitor a patient’s surface motions during radiotherapy by a non-irradiating, noninvasive optical surface imaging technique. In this study, machine learning methods were applied to predict external respiratory motion signals and predict internal liver motion in this therapeutic context. METHODS: Seven groups of interrelated external/internal respiratory liver motion samples lasting from 5 to 6 min collected simultaneously were used as a dataset, D(v). Long short-term memory (LSTM) and support vector regression (SVR) networks were then used to establish external respiratory signal prediction models (LSTMpred/SVRpred) and external/internal respiratory motion correlation models (LSTMcorr/SVRcorr). These external prediction and external/internal correlation models were then combined into an integrated model. Finally, the LSTMcorr model was used to perform five groups of model updating experiments to confirm the necessity of continuously updating the external/internal correlation model. The root-mean-square error (RMSE), mean absolute error (MAE), and maximum absolute error (MAX_AE) were used to evaluate the performance of each model. RESULTS: The models established using the LSTM neural network performed better than those established using the SVR network in the tasks of predicting external respiratory signals for latency-compensation (RMSE < 0.5 mm at a latency of 450 ms) and predicting internal liver motion using external signals (RMSE < 0.6 mm). The prediction errors of the integrated model (RMSE ≤ 1.0 mm) were slightly higher than those of the external prediction and external/internal correlation models. The RMSE/MAE of the fifth model update was approximately ten times smaller than that of the first model update. CONCLUSIONS: The LSTM networks outperform SVR networks at predicting external respiratory signals and internal liver motion because of LSTM’s strong ability to deal with time-dependencies. The LSTM-based integrated model performs well at predicting liver motion from external respiratory signals with system latencies of up to 450 ms. It is necessary to update the external/internal correlation model continuously.