Path planning and collision avoidance for movement of instruments in a radiation therapy environment

摘要

Apparatus and methods for therapy delivery are disclosed. In one embodiment, a therapy delivery system includes a plurality of movable components including a radiation therapy nozzle and a patient pod for holding a patient, a patient registration module for determining a desired position of at least one of the plurality of movable components, and a motion control module for coordinating the movement of the least one of the plurality of movable components from a current position to the desired position. The motion control module includes a path planning module for simulating at least one projected trajectory of movement of the least one of the plurality of moveable components from the current position to the desired position.

主权项

1. A collision avoidance system for a radiation therapy system having movable components comprising:
a plurality of external measurement devices arranged to obtain position measurements of components of the radiation therapy system, and a patient substantially fixed in position with respect to a movable patient support so as to provide location information; and a controller operable to receive position information from the plurality of external measurement devices and determine a corresponding movement envelope defined by possible movement paths of the components given the position information, wherein the controller evaluates the movement envelope, and inhibits movement if a collision with any foreign object within the movement envelope is indicated.