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

  • US 8,184,773 B2
  • Filed: 04/07/2011
  • Issued: 05/22/2012
  • Est. Priority Date: 08/12/2003
  • Status: Active Grant
First Claim
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1. A therapy delivery system comprising:

  • 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, wherein the motion control module comprises a path planning module configured to;

    use data from a library of three dimensional model data, the three dimensional model data corresponding to position envelopes defined by possible movement of the movable components;

    perform calculations simulating at least one projected trajectory of movement of the at least one of the plurality of moveable components from the current position to the desired position; and

    use the calculations simulating at least one projected trajectory of movement to assist in planning a path with non-overlapping position envelopes that will thereby avoid collisions during movement from the current position to the desired position.

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