Coupled Robotic Radiation Therapy for Expanded Beam Angles
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Solution Overview
Problem
Modern radiation therapy techniques are limited by bulky machinery that restricts the scope of volumetric angles at which therapy can be administered, necessitating improved systems for more flexible and efficient delivery.
Innovation Solution
A dual robot radiation therapy system configured to provide therapy beams from a larger set of angles, utilizing a primary robot with a compact therapy device and a secondary robot for imaging and radiation blocking, coupled with advanced treatment planning software to optimize beam selection and minimize collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If bulky machinery is used for radiation therapy delivery, then the therapy can be administered from limited volumetric angles, but the device complexity and treatment flexibility are reduced
Solution Approach 1:
The system divides the radiation therapy delivery function into two separate robotic manipulators: a primary robot that positions the therapy device and a secondary robot that positions the imaging device and radiation blocker. This segmentation allows each robot to be more compact while achieving the combined functionality of a single bulky system, enabling access to a greater range of volumetric angles.
Solution Approach 2:
The dual robot system introduces additional degrees of freedom by operating in three-dimensional space around the patient. The primary robot provides six degrees of freedom for therapy device positioning, while the secondary robot provides six degrees of freedom for imaging and blocking. This multi-dimensional approach enables access to angles that would be impossible with traditional single-gantry systems, effectively utilizing 4π steradian coverage.
2Adaptability or versatility
If a fixed gantry system is used, then the machinery is simpler, but the scope of volumetric angles is limited
Solution Approach 1:
The system replaces the fixed gantry structure with dynamic robotic manipulators that can move the therapy device to any position in three-dimensional space. The primary robot with six degrees of freedom can position the compact therapy device at any of the 4π angles intersecting the treatment area, providing dynamic adaptability that far exceeds the fixed angular ranges of traditional gantry systems.
Solution Approach 2:
The coupled robot system integrates multiple functions into a single platform: the primary robot delivers therapy beams from multiple angles, the secondary robot provides imaging capabilities and radiation blocking. This multi-functional system replaces multiple separate devices (therapy gantry, imaging gantry, blocking devices) with a unified robotic system that achieves greater angular coverage and flexibility.
3Adaptability or versatility
If all 1162 candidate beam angles are considered in 4π sphere, then the treatment options are maximized, but the beam selection process becomes computationally complex
Solution Approach 1:
The system performs preliminary beam screening before treatment planning to eliminate infeasible beam angles. By pre-calculating and removing beams that would cause collisions with the patient, treatment bed, or other equipment, the system reduces the 1162 candidate beams to a manageable subset. This preliminary action simplifies the subsequent treatment planning process while maintaining access to the full 4π angular range.
Solution Approach 2:
The treatment planning system uses feedback from collision detection and geometric constraints to iteratively refine beam selection. The system evaluates each candidate beam against physical constraints (patient anatomy, equipment geometry, safety margins) and provides feedback to eliminate infeasible options. This feedback-driven approach systematically reduces the candidate beam set while ensuring clinical safety and effectiveness.
Data Source
AI summary
A dual robot therapy system may be configured to provide a therapy beam (and/or an imaging beam) at each of multiple treatment beam angles that are selected from a much larger set of candidate beam angles than are possible with existing therapy delivery system.