Mitsubishi Heavy Industries Technical Review Vol. 49 No. 1 (March 2012)
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The Mitsubishi Heavy Industries vero 4-Dimensional
Radiation Therapy (MHI vero4DRT) System:
The World’s First Dynamic-Tracking Irradiation
with Real-Time MonitoringA d v a n c e d S y s t e m s D e pa r t m e n t ,Industrial Machinery Business,
Te c h n o l o g y & S o l u t i o n s D i v i s i o n

In May 2011, Mitsubishi Heavy Industries, Ltd. (MHI) launched the world’s first application
using its newly developed dynamic-tracking capability designed for MHI-TM2000 radiation
therapy equipment, at Kyoto University Hospital, a development partner. After further functional
improvements based on clinical trials at the hospital, an accurate, rapid, dynamic-tracking method
using both gold markers and breathing signals was established for more universal application.
Using this new method, the first dynamic-tracking radiation therapy with real-time monitoring in
the world was successfully performed at the hospital on September 14, 2011. This led to theadoption of the new brand name, MHI vero4DRT, which combines the Latin word vero, meaning“truth,” and MHI’s innovative four-dimensional radiation therapy (4DRT) technique.
This article provides an overview and describes the characteristics of the dynamic-tracking
method, which uses both gold markers and breathing signals.

|1. An Overview of MHI vero4DRTThe MHI vero4DRT radiation therapy system (Figure 1) is equipped with two pairs ofkilovolt (kV) X-ray imaging systems and a gimbal mechanism that controls MV therapeutic beam
direction. In addition to well-proven functions, such as high-accuracy beam irradiation, automatic
image fusion, and high-precision patient setup, the system offers an innovative dynamic-tracking
irradiation capability for four-dimensional radiation therapy by identifying the exact location of themoving target tumor in real time and adjusting the beam direction according to changes in tumor
location.

Figure 1

Mechanical configuration of the MHI vero4DRT system

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In dynamic-tracking irradiation, X-ray beams are delivered directly to a target tumor thatmoves as the patient breathes. The method improves the dose concentration on the target, while
minimizing unwanted exposure to the surrounding normal tissues.
Dynamic-tracking irradiation is achieved using the following steps (Figure 2):(1) Obtaining sequential three-dimensional positions of the target tumor as it moves in real time
while the patient breathes, using the kV X-ray imaging system;(2) Adjusting the direction of the therapeutic X-ray beam by tracking the tumor location
continuously with the gimbal mechanism; and(3) Applying therapeutic X-ray beam continuously until the desired dose is reached.

Figure 2 Dynamic-tracking irradiation process|2. Characteristics of the Tracking Method using Gold Markers andBreathing Signals
The newly adopted tracking method using gold markers and breathing signals is a more
precise tumor-detection technique, in which a gold maker is implanted as a tracking point inside ornear the target tumor, which is not clearly visible in Step 1. This enables more robust tracking of
the tumor during radiation therapy by automatically detecting the precise position of the marker,
which appears in the image regardless of the tumor visibility (Figure 3). MHI vero4DRT uses gold
markers approximately 1.5 mm in diameter, which can be inserted into the bronchus near the tumor
without an incision, resulting in less physical strain on the patient compared with methods
requiring surgery.

Figure 3

Example of tracking images using gold markers and breathing signals

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Furthermore, the position of the tumor inside the body is estimated by using the highcorrelation between the tumor location and breathing signals, including the vertical movement ofthe abdomen and chest. This approach requires fewer images for therapy. Therefore, a significant
reduction in unnecessary radiation exposure is achieved compared with tracking methods that use aseries of X-ray images obtained from two directions.
As a result, the new system offers more patient-friendly tumor tracking, while maintaining
the advantages of improved dose concentration in the dynamic-tracking method.
We sincerely thank Prof. Masahiro Hiraoka (Graduate School of Medicine, Kyoto
University), Dr. Masaki Kokubo (Director of the Institute of Biomedical Research and Innovation),and all those at Kyoto University, the Institute of Biomedical Research and Innovation, and Kyoto
College of Medical Science who took part in and contributed to this project, for their valuableguidance and advice throughout the development of the MHI vero4DRT system.