Radiotherapy Collision Prediction Using Occluded Sensor Tracking
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Solution Overview
Problem
Current radiotherapy treatments face challenges in collision avoidance between patients and radiotherapy devices, or between device components, due to patient movement and device geometry, leading to potential damage, treatment delays, and inaccuracies.
Innovation Solution
A method and apparatus utilizing multiple sensors to measure location information of a patient, determining a spatial profile, and assessing potential collisions with radiotherapy devices, even when some sensor lines of sight are obscured, allowing for real-time adjustments to prevent collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple sensors are used to monitor patient position, then collision detection accuracy is improved, but device complexity increases
Solution Approach 1:
The monitoring system is divided into multiple independent sensors positioned at different locations around the patient. Each sensor provides localized position data, and the controller integrates these segmented measurements to achieve comprehensive collision detection without requiring a single complex sensor system
Solution Approach 2:
A controller acts as an intermediary that receives data from multiple sensors and processes this information to determine patient position and predict potential collisions. This intermediary component simplifies the overall system architecture by centralizing the complex detection logic while allowing individual sensors to remain relatively simple
2Reliability
If real-time patient position monitoring is implemented, then collision avoidance is improved, but treatment time increases
Solution Approach 1:
The system continuously monitors patient position and predicts potential collision trajectories in advance, allowing the gantry movement to be adjusted proactively before a collision occurs. This preliminary detection and prediction capability enables real-time safety interventions without requiring complete treatment interruptions
Solution Approach 2:
The controller receives continuous feedback from sensors about patient position and gantry movement, dynamically adjusting the treatment delivery parameters to maintain safety margins. This closed-loop feedback system ensures collision avoidance while minimizing treatment time extensions by making real-time corrections rather than requiring repeated setup measurements
3Ease of operation
If patient movement is allowed during treatment, then patient comfort is improved, but collision risk increases
Solution Approach 1:
The monitoring system enables the treatment delivery to adapt automatically to patient movement without requiring constant manual intervention. The controller autonomously processes sensor data, detects position changes, and adjusts gantry parameters in real-time, allowing the system to serve itself in maintaining safety while accommodating natural patient movements
Solution Approach 2:
The collision avoidance system dynamically adapts to changing patient positions during treatment rather than relying on fixed positioning constraints. By continuously updating the spatial profile and collision predictions based on real-time sensor data, the system maintains safety margins even as the patient moves, eliminating the need for rigid positioning that would compromise comfort
Data Source
AI summary
A method, apparatus and computer-readable medium for avoiding collisions between a subject and a radiotherapy device are provided. At a first time point, first location information for the subject is measured using a first sensor and a second sensor. A spatial profile of the subject is determined based on the first location information. At a second time point, second location information for the subject is measured using the first sensor. At this second time point, a line of sight between the second sensor and the subject is obscured. It is determined whether a collision is expected to occur between the subject and the radiotherapy device based on the spatial profile and the second location information.