Robust radiotherapy planning with spatially-based uncertainty sets

Radiotherapy treatment planning is a challenging large-scale optimization problem plagued by uncertainty. Following the robust optimization methodology, we propose a novel, spatially based uncertainty set for robust modeling of radiotherapy planning, producing solutions that are immune to unexpected changes in biological conditions. Our proposed uncertainty set realistically captures biological radiosensitivity patterns that are observed using recent advances in imaging, while its parameters can be personalized for individual patients. We exploit the structure of this set to devise a compact reformulation of the robust model. We develop a row-generation scheme to solve real, large-scale instances of the robust model. This method is then extended to a relaxation-based scheme for enforcing challenging, yet clinically important, dose-volume cardinality constraints. The computational performance of our algorithms, as well as the quality and robustness of the computed treatment plans, are demonstrated on simulated and real imaging data. Based on accepted performance measures, such as minimal target dose and homogeneity, these examples demonstrate that the spatially robust model achieves almost the same performance as the nominal model in the nominal scenario, and otherwise, the spatial model outperforms both the nominal and the box-uncertainty models.