Robust localization of poorly visible tumor in fiducial free stereotactic body radiation therapy

Effective respiratory motion management reduces healthy tissue toxicity and ensures sufficient dose delivery to lung cancer cells in pulmonary stereotactic body radiation therapy (SBRT) with high fractional doses. An articulated robotic arm paired with an X-ray imaging system is designed for real-time motion-tracking (RTMT) dose delivery. However, small tumors (<15 mm) or tumors at challenging locations may not be visible in the X-ray images, disqualifying patients with such tumors from RTMT dose delivery unless fiducials are implanted via an invasive procedure. To track these practically invisible lung tumors in SBRT, we hereby develop a deep learning-enabled template-free tracking framework, SAFE Track.