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

  • US 10,010,720 B2
  • Filed: 01/25/2016
  • Issued: 07/03/2018
  • Est. Priority Date: 08/12/2003
  • Status: Active Grant
First Claim
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1. A radiation therapy system operable to selectively deliver radiation along a delivery axis from one or more angles or orientations with respect to a beam delivery aiming point comprising:

  • a radiation source operable to irradiate a radiation beam along a radiation beam axis;

    a gantry operable to revolve relatively precisely about a gantry isocenter wherein the radiation source is attached and supported by the gantry;

    a nozzle attached and supported by the gantry, wherein an aperture is positioned on the distal end of the nozzle and the radiation beam passes through and is shaped by the aperture;

    the gantry and nozzle being responsive to received instructions to be positioned relative to a nominal beam delivery aiming point subject to certain amounts of structural flex and movement tolerances from nominal positions and orientations;

    a camera system operable to obtain images of moveable components of the radiation therapy system and process the obtained images to determine position measurements of the gantry;

    internal monitoring systems that also monitor the movement of the gantry and the nozzle and provide signals indicative thereof; and

    a control system operable to receive position measurements from the camera system and utilize the received position measurements to determine an offset between the actual location of the radiation source attached to the gantry and an expected location of the radiation source attached to the gantry positioned in accordance with the received instructions;

    wherein the control system monitors signals from the camera system and the internal monitoring systems and inhibits movement of the moveable components if the signals indicate that a collision of the moveable components is likely to occur.

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