Users Guide:Getting started
This paragraph is an overview of the main steps one must go through to perform a simulation using Gate. It is presented in the form of a simple example that the user is encouraged to try out, while reading this section. A more detailed description of the different steps is given in the following sections of this user's guide. The use of Gate does not require any C++ programming, thanks to a dedicated scripting mechanism that extends the native command interpreter of Geant4. This interface allows the user to run Gate programs using command scripts only. The goal of this first section is to give a brief description of the user interface and to provide understanding of the basic principles of Gate by going through the different steps of a simulation.
- 1 Simulation architecture for imaging applications
- 2 Simulation architecture for dosimetry and radiotherapy applications
- 3 The user interface: a macro language
- 4 Step 1: Defining a scanner geometry
- 5 Second step: Defining a phantom geometry
- 6 Third step: Setting-up the physics processes
- 7 Fourth step: Initialization
- 8 Fifth step: Setting-up the digitizer
- 9 Sixth step: Setting-up the source
- 10 Seventh step: Defining data output
- 11 Eighth step: Starting an acquisition
- 12 Verbosity
Simulation architecture for imaging applications
In each simulation, the user has to:
- define the scanner geometry
- define the phantom geometry
- set up the physics processes
- initialize the simulation :
- set up the detector model
- define the source(s)
- specify the data output format
- start the acquisition
Steps 1) to 4) concern the initialization of the simulation. Following the initialization, the geometry can no longer be changed.
Simulation architecture for dosimetry and radiotherapy applications
In each simulation, the user has to:
- define the beam geometry
- define the phantom geometry
- specify the output (actor concept for dose map etc...)
- set up the physics processes
- initialize the simulation :
- define the source(s)
- start the simulation with the following command lines:
The user interface: a macro language
Gate, just as GEANT4, is a program in which the user interface is based on scripts. To perform actions, the user must either enter commands in interactive mode, or build up macro files containing an ordered collection of commands.
Each command performs a particular function, and may require one or more parameters. The Gate commands are organized following a tree structure, with respect to the function they represent. For example, all geometry-control commands start with geometry, and they will all be found under the /geometry/ branch of the tree structure.
When Gate is run, the Idle> prompt appears. At this stage the command interpreter is active; i.e. all the Gate commands entered will be interpreted and processed on-line. All functions in Gate can be accessed to using command lines. The geometry of the system, the description of the radioactive source(s), the physical interactions considered, etc., can be parameterized using command lines, which are translated to the Gate kernel by the command interpreter. In this way, the simulation is defined one step at a time, and the actual construction of the geometry and definition of the simulation can be seen on-line. If the effect is not as expected, the user can decide to re-adjust the desired parameter by re-entering the appropriate command on-line. Although entering commands step by step can be useful when the user is experimenting with the software or when he/she is not sure how to construct the geometry, there remains a need for storing the set of commands that led to a successful simulation.
Macros are ASCII files (with '.mac' extension) in which each line contains a command or a comment. Commands are GEANT4 or Gate scripted commands; comments start with the character ' #'. Macros can be executed from within the command interpreter in Gate, or by passing it as a command-line parameter to Gate, or by calling it from another macro. A macro or set of macros must include all commands describing the different components of a simulation in the right order. Usually these components are visualization, definitions of volumes (geometry), systems, digitizer, physics, initialization, source, output and start. These steps are described in the next sections. A single simulation may be split into several macros, for instance one for the geometry, one for the physics, etc. Usually, there is a master macro which calls the more specific macros. Splitting macros allows the user to re-use one or more of these macros in several other simulations, and/or to organize the set of all commands. Examples of complete macros can be found on the web site referenced above. To execute a macro (mymacro.mac in this example) from the Linux prompt, just type :
To execute a macro from inside the Gate environment, type after the "Idle>" prompt:
And finally, to execute a macro from inside another macro, simply write in the master macro:
In the following sections, the main steps to perform a simulation for imaging applications using Gate are presented in details. To try out this example, the user can run Gate and execute all the proposed commands, line by line.
Step 1: Defining a scanner geometry
The user needs to define the geometry of the simulation based on volumes. All volumes are linked together following a tree structure where each branch represents a volume. Each volume is characterized by shape, size, position, and material composition. The default material assigned to a new volume is Air. The list of available materials is defined in the GateMaterials.db file. (See Users Guide:Materials). The location of the material database needs to be specified with the following command:
The base of the tree is represented by the world volume (fig 1.1) which sets the experimental framework of the simulation. All Gate commands related to the construction of the geometry are described in detail in Users Guide:Defining a geometry. The world volume is a box centered at the origin. It can be of any size and has to be large enough to include the entire simulation geometry. The tracking of any particle stops when it escapes from the world volume. The example given here simulates a system that fits into a box of 40 x 40 x 40 cm3. Thus, the world volume may be defined as follows:
# W O R L D /gate/world/geometry/setXLength 40. cm /gate/world/geometry/setYLength 40. cm /gate/world/geometry/setZLength 40. cm
The world contains one or more sub volumes referred to as daughter volumes.
The name vol_name of the first daughter of the world has a specific meaning and name. It specifies the type of scanner to be simulated. Users Guide:Defining a system gives the specifics of each type of scanner, also called system. In the current example, the system is a CylindricalPET system. This system assumes that the scanner is based on a cylindrical configuration (fig 1.2) of blocks, each block containing a set of crystals.
# S Y S T E M /gate/world/daughters/name cylindricalPET /gate/world/daughters/insert cylinder /gate/cylindricalPET/setMaterial Water /gate/cylindricalPET/geometry/setRmax 100 mm /gate/cylindricalPET/geometry/setRmin 86 mm /gate/cylindricalPET/geometry/setHeight 18 mm /gate/cylindricalPET/vis/forceWireframe /vis/viewer/zoom 3
These seven command lines describe the global geometry of the scanner. The shape of the scanner is a cylinder filled with water with an external radius of 100 mm and an internal radius of 86 mm. The length of the cylinder is 18 mm. The last command line sets the visualization as wireframe.
You may see the following message when creating the geometry:
G4PhysicalVolumeModel::Validate() called. Volume of the same name and copy number ("world_phys", copy 0) still exists and is being used. WARNING: This does not necessarily guarantee it's the same volume you originally specified in /vis/scene/add/.
This message is normal and you can safely ignore it.
At any time, the user can list all the possible commands. For example, the command line for listing the visualization commands is:
Idle> ls /gate/cylindricalPET/vis/
Let's assume that the scanner is made of 30 blocks (box1), each block containing textstyle 8 times 8 LSO crystals (box2).
The following command lines describe this scanner (see Users Guide:Defining a geometry to find a detailed explanation of these commands). First, the geometry of each block needs to be defined as the daughter of the system (here cylindricalPET system).
# FIRST LEVEL OF THE SYSTEM /gate/cylindricalPET/daughters/name box1 /gate/cylindricalPET/daughters/insert box /gate/box1/placement/setTranslation 91. 0 0 mm /gate/box1/geometry/setXLength 10. mm /gate/box1/geometry/setYLength 17.75 mm /gate/box1/geometry/setZLength 17.75 mm /gate/box1/setMaterial Water /gate/box1/vis/setColor yellow /gate/box1/vis/forceWireframe
Once the block is created (fig 1.3), the crystal can be defined as a daughter of the block (fig 1.4)
The zoom command line in the script allows the user to zoom the geometry and the panTo command translates the viewer window in 60 mm in horizontal and 40 mm in vertical directions (the default is the origin of the world (0,0,0)).
To obtain the complete matrix of crystals, the volume box2 needs to be repeated in the Y and Z directions (fig 1.5). To obtain the complete ring detector, the original block is repeated 30 times (fig 1.6).
# C R Y S T A L /gate/box1/daughters/name box2 /gate/box1/daughters/insert box /gate/box2/geometry/setXLength 10. mm /gate/box2/geometry/setYLength 2. mm /gate/box2/geometry/setZLength 2. mm /gate/box2/setMaterial LSO /gate/box2/vis/setColor red /gate/box2/vis/forceWireframe
# Z O O M /vis/viewer/zoom 4 /vis/viewer/panTo 60 -40 mm
# R E P E A T C R Y S T A L /gate/box2/repeaters/insert cubicArray /gate/box2/cubicArray/setRepeatNumberX 1 /gate/box2/cubicArray/setRepeatNumberY 8 /gate/box2/cubicArray/setRepeatNumberZ 8 /gate/box2/cubicArray/setRepeatVector 0. 2.25 2.25 mm
The geometry of this simple PET scanner has now been specified. The next step is to connect this geometry to the system in order to store data from particle interactions (called hits) within the volumes which represent detectors (sensitive detector or physical volume). Gate only stores hits for those volumes attached to a sensitive detector. Hits regarding interactions occurring in non-sensitive volumes are lost. A volume must belong to a system before it can be attached to a sensitive detector. Hits, occurring in a volume, cannot be scored in an output file if this volume is not connected to a system because this volume can not be attached to a sensitive detector. The concepts of system and sensitive detector are discussed in more detail in Users Guide:Defining a system and Users Guide:Attaching the sensitive detectors respectively.
The following commands are used to connect the volumes to the system.
# R E P E A T R S E C T O R /gate/box1/repeaters/insert ring /gate/box1/ring/setRepeatNumber 30 # Z O O M /vis/viewer/zoom 0.25 /vis/viewer/panTo 0 0 mm # A T T A C H V O L U M E S T O A S Y S T E M /gate/systems/cylindricalPET/rsector/attach box1 /gate/systems/cylindricalPET/module/attach box2
The names rsector and module are dedicated names and correspond to the first and the second levels of the CylindricalPET system (see Users Guide:Defining a system).
In order to save the hits (see Users Guide:Digitizer and readout parameters) in the volumes corresponding to the crystals the appropriate command, in this example, is:
# D E F I N E A S E N S I T I V E D E T E C T O R /gate/box2/attachCrystalSD vglue 1cm
At this level of the macro file, the user can implement detector movement. One of the most distinctive features of Gate is the management of time-dependent phenomena, such as detector movements and source decay leading to a coherent description of the acquisition process. For simplicity, the simulation described in this tutorial does not take into account the motion of the detector or the phantom. Users Guide:Defining a geometry describes the movement of volumes in detail.
Second step: Defining a phantom geometry
The volume to be scanned is built according to the same principle used to build the scanner. The external envelope of the phantom is a daughter of the world. The following command lines describe a cylinder with a radius of 10 mm and a length of 30 mm. The cylinder is filled with water and will be displayed in gray. This object represents the attenuation medium of the phantom.
# P H A N T O M /gate/world/daughters/name my_phantom /gate/world/daughters/insert cylinder /gate/my_phantom/setMaterial Water /gate/my_phantom/vis/setColor grey /gate/my_phantom/geometry/setRmax 10. mm /gate/my_phantom/geometry/setHeight 30. mm
To retrieve information about the Compton and the Rayleigh interactions within the phantom, a sensitive detector (phantomSD) is associated with the volume using the following command line:
# P H A N T O M D E F I N E D A S S E N S I T I V E /gate/my_phantom/attachPhantomSD
Two types of information will now be recorded for each hit in the hit collection:
- The number of scattering interactions generated in all physical volumes attached to the phantomSD.
- The name of the physical volume attached to the phantomSD in which the last interaction occurred.
These concepts are further discussed in Users Guide:Attaching the sensitive detectors.
Third step: Setting-up the physics processes
Once the volumes and corresponding sensitive detectors are described, the interaction processes of interest in the simulation have to be specified. Gate uses the GEANT4 models for physical processes. The user has to choose among these processes for each particle. Then, user can customize the simulation by setting the production thresholds, the cuts, the electromagnetic options...
Some typical physics lists are available in the directory examples/PhysicsLists:
- egammaStandardPhys.mac (physics list for photons, e- and e+ with standard processes and recommended Geant4 "option3")
- egammaLowEPhys.mac (physics list for photons, e- and e+ with low energy processes)
- egammaStandardPhysWithSplitting.mac (alternative egammaStandardPhys.mac with selective bremsstrahlung splitting)
- hadrontherapyStandardPhys.mac (physics list for hadrontherapy with standard processes and recommended Geant4 "option3")
- hadrontherapyLowEPhys.mac (physics list for hadrontherapy with low energy processes)
The details of the interactions processes, cuts and options available in Gate are described in Users Guide:Setting up the physics.
Fourth step: Initialization
When the 3 steps described before are completed, corresponding to the pre-initialization mode of GEANT4, the simulation should be initialized using:
# I N I T I A L I Z E /gate/run/initialize
This initialization actually triggers the calculation of the cross section tables. After this step, the physics list cannot be modified any more and new volumes cannot be inserted into the geometry.
Fifth step: Setting-up the digitizer
The basic output of Gate is a hit collection in which data such as the position, the time and the energy of each hit are stored. The history of a particle is thus registered through all the hits generated along its track. The goal of the digitizer is to build physical observables from the hits and to model readout schemes and trigger logics. Several functions are grouped under the Gate digitizer object, which is composed of different modules that may be inserted into a linear signal processing sequence. As an example, the following command line inserts an adder to sum the hits generated per elementary volume (a single crystal defined as box2 in our example).
Another module can describe the readout scheme of the simulation. Except when one crystal is read out by one photo-detector, the readout segmentation can be different from the elementary geometrical structure of the detector. The readout geometry is an artificial geometry which is usually associated with a group of sensitive detectors. In this example, this group is box1.
/gate/digitizer/Singles/insert readout /gate/digitizer/Singles/readout/setDepth 1
In this example, the readout module sums the energy deposited in all crystals within the block and determines the position of the crystal with the highest energy deposited ("winner takes all"). The setDepth command specifies at which geometry level (called "depth") the readout function is performed. In the current example:
- base level (CylindricalPET) = depth 0
- 1srt daughter (box1) of the system = depth 1
- next daughter (box2) of the system = depth 2
- and so on ....
In order to take into account the energy resolution of the detector and to collect singles within a pre-defined energy window only, other modules can be used:
# E N E R G Y B L U R R I N G /gate/digitizer/Singles/insert blurring /gate/digitizer/Singles/blurring/setResolution 0.19 /gate/digitizer/Singles/blurring/setEnergyOfReference 511. keV # E N E R G Y W I N D O W /gate/digitizer/Singles/insert thresholder /gate/digitizer/Singles/thresholder/setThreshold 350. keV /gate/digitizer/Singles/insert upholder /gate/digitizer/Singles/upholder/setUphold 650. keV
Here, an energy resolution of 19% at 551 KeV is considered.
Furthermore, the energy window is set from 350 keV to 600 keV.
For PET simulations, the coincidence sorter is also implemented at the digitizer level.
# C O I N C I D E N C E S O R T E R /gate/digitizer/Coincidences/setWindow 10. ns
Other digitizer modules are available in Gate and are described in Users Guide:Digitizer and readout parameters.
Sixth step: Setting-up the source
In Gate, a source is represented by a volume in which the particles (positron, gamma, ion, proton, ...) are emitted. The user can define the geometry of the source and its characteristics such as the direction of emission, the energy distribution, and the activity. The lifetime of unstable sources (radioactive ions) is usually obtained from the GEANT4 database, but it can also be set by the user.
A voxelized phantom or a patient dataset can also be used to define the source, in order to simulate realistic acquisitions. For a complete description of all functions to define the sources, see Users Guide:Voxelized Source and Phantom.
In the current example, the source is a 1 MBq line source. The line source is defined as a cylinder with a radius of 0.5 mm and a length of 50 mm. The source generates pairs of 511 keV gamma particles emitted 'back-to-back' (for a more realistic source model, the range of the positron and the non collinearity of the two gammas can also be taken into account).
# S O U R C E /gate/source/addSource twogamma /gate/source/twogamma/setActivity 100000. becquerel /gate/source/twogamma/setType backtoback # POSITION /gate/source/twogamma/gps/centre 0. 0. 0. cm # PARTICLE /gate/source/twogamma/gps/particle gamma /gate/source/twogamma/gps/energytype Mono /gate/source/twogamma/gps/monoenergy 0.511 MeV # TYPE = Volume or Surface /gate/source/twogamma/gps/type Volume # SHAPE = Sphere or Cylinder /gate/source/twogamma/gps/shape Cylinder /gate/source/twogamma/gps/radius 0.5 mm /gate/source/twogamma/gps/halfz 25 mm
# SET THE ANGULAR DISTRIBUTION OF EMISSION /gate/source/twogamma/gps/angtype iso # SET MIN AND MAX EMISSION ANGLES /gate/source/twogamma/gps/mintheta 0. deg /gate/source/twogamma/gps/maxtheta 180. deg /gate/source/twogamma/gps/minphi 0. deg /gate/source/twogamma/gps/maxphi 360. deg /gate/source/list
Seventh step: Defining data output
By default, the data output formats for all systems used by Gate are ASCII and ROOT as described in the following command lines:
# ASCII OUTPUT FORMAT /gate/output/ascii/enable /gate/output/ascii/setFileName test /gate/output/ascii/setOutFileHitsFlag 0 /gate/output/ascii/setOutFileSinglesFlag 1 /gate/output/ascii/setOutFileCoincidencesFlag 1 # ROOT OUTPUT FORMAT /gate/output/root/enable /gate/output/root/setFileName test /gate/output/root/setRootSinglesFlag 1 /gate/output/root/setRootCoincidencesFlag 1
Given this script, several ASCII files (.dat extension) and A ROOT file (test.root) will be created. Users Guide:Data output explains how to read the resulting files.
For some scanner configurations, the events may be stored in a sinogram format or in List Mode Format (LMF). The sinogram output module stores the coincident events from a cylindrical scanner system in a set of 2D sinograms according to the parameters set by the user (number of radial bins and angular positions). One 2D sinogram is created for each pair of crystal-rings. The sinograms are stored either in raw format or ecat7 format. The List Mode Format is the format developed by the Crystal Clear Collaboration (LGPL licence). A library has been incorporated in Gate to read, write, and analyze the LMF format. A complete description of all available outputs is given in Users Guide:Data output .
Eighth step: Starting an acquisition
In the next and final step the acquisition is defined. The beginning and the end of the acquisition are defined as in a real life experiment. In addition, Gate needs a time slice parameter which defines time period during which the simulated system is assumed to be static. At the beginning of each time-slice, the geometry is updated according to the requested movements. During each time-slice, the geometry is kept static and the simulation of particle transport and data acquisition proceeds. Each slice corresponds to a Geant4 run.
If the sources involved in the simulation are not radioactive or if activity is not defined, user can fix the total number of events. In this case, the number of particles is splitted between slices in function of the time of each slice.
User can also fix the same number of events per slice. In this case, each event is weighted by the ratio between the time slice and the total simulation time.
Regular time slice approach
This is the standard Gate approach for imaging applications (PET, SPECT and CT). User has to define the beginning and the end of the acquisition using the commands setTimeStart and setTimeStop. Each slice has the same duration. User has to define the slice duration (setTimeSlice).
/gate/application/setTimeSlice 1. s /gate/application/setTimeStart 0. s /gate/application/setTimeStop 1. s
The choice of the generator seed is also extremely important. There are 3 ways to make that choice:
- The ’default’ option. In this case the default CLHEP internal seed is taken. This seed is always
- The ’auto’ option. In this case, a new seed is automatically generated each time GATE is run.
To randomly generate the seed, the time in millisecond since January 1, 1970 and the process ID of the GATE instance (i.e. the system ID of the running GATE process) are used. So each time GATE is run, a new seed is used.
- The ’manual’ option. In this case, the user can manually set the seed. The seed is an unsigned integer value and it is recommended to be included in the interval [0,900000000].
The commands associated to the choice of the seed with the 3 different options are the following:
/gate/random/setEngineSeed default /gate/random/setEngineSeed auto /gate/random/setEngineSeed 123456789
It is also possible to control directly the initialization of the engine by selecting the file containing the seeds with the command:
# S T A R T the A C Q U I S I T I O N /gate/application/startDAQ
The number of projections or runs of the simulation is thus defined by:
In the current example, there is no motion, the acquisition time equals 1 second and the number of projections equals one.
If you want to exit from the Gate program when the simulation time exceed the time duration, the last line of your program has to be exit.
As a Monte Carlo tool, GATE needs a random generator. The CLHEP libraries provide various ones. Three different random engines are currently available in GATE, the Ranlux64, the James Random and the Mersenne Twister. The default one is the Mersenne Twister, but this can be changed easily using:
/gate/random/setEngineName aName (where aName can be: Ranlux64, JamesRandom, or MersenneTwister)
NB Several users have reported artifacts in PET data when using the Ranlux64 generator. These users have said that the artifacts are not present in data generated with the Mersenne Twister generator.
Slices with variable time
In this approach, each slice has a specific duration. User has to defined the time of each slice. The first method is to use a file of time slices:
/gate/application/readTimeSlicesIn [File Name]
the second method is to add each slice with the command:
/gate/application/addSlice [value] [unit]
User has to define the beginning of the acquisition using the command setTimeStart. The end of acquisition is calculated by summing each time slice. The simulation is started with the commands:
The level of verbosity of the random engine can be chosen. It consists into printing the random engine status, depending on the type of generator used. The command associated to the verbosity is:
Values from 0 to 2 are allowed, higher values will be interpreted as 2. A value of 0 means no printing at all, a value of 1 results in one printing at the beginning of the acquisition, and a value of 2 results in one printing at each beginning of run.