9,723 research outputs found
Multicriteria VMAT optimization
Purpose: To make the planning of volumetric modulated arc therapy (VMAT)
faster and to explore the tradeoffs between planning objectives and delivery
efficiency.
Methods: A convex multicriteria dose optimization problem is solved for an
angular grid of 180 equi-spaced beams. This allows the planner to navigate the
ideal dose distribution Pareto surface and select a plan of desired target
coverage versus organ at risk sparing. The selected plan is then made VMAT
deliverable by a fluence map merging and sequencing algorithm, which combines
neighboring fluence maps based on a similarity score and then delivers the
merged maps together, simplifying delivery. Successive merges are made as long
as the dose distribution quality is maintained. The complete algorithm is
called VMERGE.
Results: VMERGE is applied to three cases: a prostate, a pancreas, and a
brain. In each case, the selected Pareto-optimal plan is matched almost exactly
with the VMAT merging routine, resulting in a high quality plan delivered with
a single arc in less than five minutes on average.
VMERGE offers significant improvements over existing VMAT algorithms. The
first is the multicriteria planning aspect, which greatly speeds up planning
time and allows the user to select the plan which represents the most desirable
compromise between target coverage and organ at risk sparing. The second is the
user-chosen epsilon-optimality guarantee of the final VMAT plan. Finally, the
user can explore the tradeoff between delivery time and plan quality, which is
a fundamental aspect of VMAT that cannot be easily investigated with current
commercial planning systems
A GPU-based multi-criteria optimization algorithm for HDR brachytherapy
Currently in HDR brachytherapy planning, a manual fine-tuning of an objective
function is necessary to obtain case-specific valid plans. This study intends
to facilitate this process by proposing a patient-specific inverse planning
algorithm for HDR prostate brachytherapy: GPU-based multi-criteria optimization
(gMCO).
Two GPU-based optimization engines including simulated annealing (gSA) and a
quasi-Newton optimizer (gL-BFGS) were implemented to compute multiple plans in
parallel. After evaluating the equivalence and the computation performance of
these two optimization engines, one preferred optimization engine was selected
for the gMCO algorithm. Five hundred sixty-two previously treated prostate HDR
cases were divided into validation set (100) and test set (462). In the
validation set, the number of Pareto optimal plans to achieve the best plan
quality was determined for the gMCO algorithm. In the test set, gMCO plans were
compared with the physician-approved clinical plans.
Over 462 cases, the number of clinically valid plans was 428 (92.6%) for
clinical plans and 461 (99.8%) for gMCO plans. The number of valid plans with
target V100 coverage greater than 95% was 288 (62.3%) for clinical plans and
414 (89.6%) for gMCO plans. The mean planning time was 9.4 s for the gMCO
algorithm to generate 1000 Pareto optimal plans.
In conclusion, gL-BFGS is able to compute thousands of SA equivalent
treatment plans within a short time frame. Powered by gL-BFGS, an ultra-fast
and robust multi-criteria optimization algorithm was implemented for HDR
prostate brachytherapy. A large-scale comparison against physician approved
clinical plans showed that treatment plan quality could be improved and
planning time could be significantly reduced with the proposed gMCO algorithm.Comment: 18 pages, 7 figure
Motion Planning of Uncertain Ordinary Differential Equation Systems
This work presents a novel motion planning framework, rooted in nonlinear programming theory, that treats uncertain fully and under-actuated dynamical systems described by ordinary differential equations. Uncertainty in multibody dynamical systems comes from various sources, such as: system parameters, initial conditions, sensor and actuator noise, and external forcing. Treatment of uncertainty in design is of paramount practical importance because all real-life systems are affected by it, and poor robustness and suboptimal performance result if it’s not accounted for in a given design. In this work uncertainties are modeled using Generalized Polynomial Chaos and are solved quantitatively using a least-square collocation method. The computational efficiency of this approach enables the inclusion of uncertainty statistics in the nonlinear programming optimization process. As such, the proposed framework allows the user to pose, and answer, new design questions related to uncertain dynamical systems.
Specifically, the new framework is explained in the context of forward, inverse, and hybrid dynamics formulations. The forward dynamics formulation, applicable to both fully and under-actuated systems, prescribes deterministic actuator inputs which yield uncertain state trajectories. The inverse dynamics formulation is the dual to the forward dynamic, and is only applicable to fully-actuated systems; deterministic state trajectories are prescribed and yield uncertain actuator inputs. The inverse dynamics formulation is more computationally efficient as it requires only algebraic evaluations and completely avoids numerical integration. Finally, the hybrid dynamics formulation is applicable to under-actuated systems where it leverages the benefits of inverse dynamics for actuated joints and forward dynamics for unactuated joints; it prescribes actuated state and unactuated input trajectories which yield uncertain unactuated states and actuated inputs.
The benefits of the ability to quantify uncertainty when planning the motion of multibody dynamic systems are illustrated through several case-studies. The resulting designs determine optimal motion plans—subject to deterministic and statistical constraints—for all possible systems within the probability space
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