Respiratory motion during radiotherapy decreases the time-efficiency of treatments. The MR-Linac can potentially improve this with real-time 3D MR-based motion estimates. Ideally, these estimates should be accompanied with estimation uncertainty to ensure patient safety and spare organs-at-risk during bulk motion or breathing pattern change, but this is typically not provided by state-of-the-art methods. In this work we extend a previously proposed probabilistic framework for real-time motion and uncertainty estimation with a rejection criterion based on the estimation uncertainty. Results show that the proposed rejection criterion preserves low end-point-errors and rejects erroneous motion estimates during bulk motion and breathing pattern changes.
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