Dual-Robot Radiotherapy Imaging Coordination for Collision-Free CT
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Solution Overview
Problem
Conventional image-guided radiation therapy systems lack the ability to provide accurate, volumetric imaging of tumors with soft tissue contrast and are limited in flexibility and range of motion, leading to inefficiencies in delivering precise radiation therapy.
Innovation Solution
A system and method for coordinating radiation therapy and imaging processes using a robotically controlled radiation source and imaging system, allowing for real-time, volumetric imaging and collision avoidance through a coordination system that independently moves the imaging and radiation systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If a LINAC is mounted on an articulated arm for radiation therapy, then the radiation can be delivered with high conformality to the tumor, but the system lacks the ability to generate volumetric CT images and provides only limited 2D radiographic imaging
Solution Approach 1:
The system divides the imaging function into separate components: the LINAC-mounted imaging system provides 2D radiographic images for real-time monitoring, while a separate CT imaging system provides volumetric imaging capability. This segmentation allows each subsystem to excel at its specific function without compromise.
Solution Approach 2:
A coordination system acts as an intermediary between the LINAC control system and the CT imaging system, managing the complex scheduling and positioning of multiple independently movable systems to prevent collisions while maximizing both radiation delivery and imaging efficiency.
2Loss of information
If a C-arm or ring gantry system is used for CT imaging, then volumetric imaging capability is achieved, but the system is limited in range of motion and treatment flexibility
Solution Approach 1:
The system replaces static C-arm or ring gantry structures with dynamic, robotically-controlled LINAC and imaging systems that can move independently to multiple positions and orientations, providing both volumetric imaging and enhanced treatment flexibility through coordinated motion control.
Solution Approach 2:
The robotically-controlled LINAC system serves multiple functions: it delivers radiation therapy with high conformality, provides 2D radiographic imaging for real-time alignment, and can be positioned to accommodate separate CT imaging, thereby achieving versatility across multiple therapeutic and diagnostic functions.
3Productivity
If multiple independently movable systems are used for both radiation therapy and imaging, then real-time volumetric imaging and treatment flexibility are improved, but collision avoidance becomes complex requiring coordination control
Solution Approach 1:
The coordination system continuously monitors the positions and motion states of both the LINAC and CT imaging systems, using real-time feedback to dynamically adjust trajectories and timing, thereby preventing collisions while maximizing treatment throughput and system utilization.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables real-time, precise radiation therapy with volumetric imaging, reducing dose to healthy tissue and allowing for dose escalation in tumors, while improving treatment throughput and flexibility.
Implementation Method 1
Conventional external beam radiation therapy, also referred to as 'teletherapy,' is commonly administered by directing a linear accelerator ('LINAC') to produce beams of ionizing radiation that irradiates the defined target volume in a subject.
Implementation Method 2
The imaging system has an x-ray detector array assembly and is configured to acquire imaging data from a subject.
Data Source
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AI summary
A system for coordinating radiation therapy and imaging processes includes a radiation therapy system an radiation source mounted on a robotically-controlled system to move the radiation source about a subject to direct radiation to a target area in the subject according to a treatment plan. The system also includes an imaging system configured to acquire imaging data from a subject. The imaging system and the radiation therapy system are independently movable. The system also includes a coordination system configured to coordinate operation of the imaging system to acquire the imaging data from the subject during movement of the radiation source about the subject according to the treatment plan to avoid collisions of the radiation therapy system with the imaging system.