Vision System for Radiotherapy Collision Avoidance
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Solution Overview
Problem
Existing radiotherapy systems lack predictive collision detection capabilities, leading to potential collisions between moving equipment and objects in the treatment environment, which can disrupt treatment delivery and pose safety risks.
Innovation Solution
A vision control system utilizing image capture devices and a controller to monitor the position and movement of radiotherapy equipment and objects, defining exclusionary zones to prevent collisions by adjusting the equipment's movement speed, direction, or terminating treatment if necessary.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If proximity detectors (ultrasound, light barrier, tactile sensor) are used to detect collisions, then collision detection is enabled, but the system cannot predict collisions in advance and must wait until objects are in proximal range
Solution Approach 1:
The vision system performs preliminary collision detection by capturing images and analyzing potential collision paths before the radiotherapy equipment actually reaches the exclusion zone. The controller predicts whether a collision may occur based on the treatment plan and current object positions, allowing the system to prepare and respond in advance rather than waiting for proximal contact.
Solution Approach 2:
The vision system acts as an intermediary between the radiotherapy equipment and physical collision. By using image capture devices to create a digital representation of the treatment environment, the system mediates collision detection and prediction, allowing the controller to make informed decisions about equipment movement without direct physical contact or proximity sensing.
2Productivity
If the gantry is rotated around the patient during treatment, then treatment delivery is enabled, but portions of equipment or objects may be hidden from the operator
Solution Approach 1:
The image capture devices serve multiple functions: they monitor the treatment environment for collision detection, provide visibility of hidden objects and equipment portions, and enable the controller to make informed decisions about equipment movement. This multi-functional approach replaces the need for direct operator observation while maintaining treatment delivery efficiency.
Solution Approach 2:
The system replaces the mechanical/physical observation system (operator visual inspection) with an optical/electronic vision system. Image capture devices continuously monitor the treatment environment, allowing the controller to detect objects and potential collisions regardless of gantry rotation or operator position in the control room.
3Reliability
If exclusionary zones are defined around objects to prevent collisions, then collision avoidance is enabled, but the system complexity increases
Solution Approach 1:
The vision control system performs self-service by automatically capturing images, processing visual data, defining exclusionary zones, and controlling equipment movement to avoid collisions. The controller autonomously makes decisions about equipment positioning based on treatment plans and real-time object positions, reducing the need for complex manual intervention or additional safety systems.
Data Source
AI summary
In various embodiments, a system for controlling radiotherapy equipment in a treatment environment includes a controller for receiving, from one or more image capture devices, data indicating the position of one or more objects in the treatment environment. Based on the position data, the controller defines one or more exclusionary zones from which the radiotherapy equipment is excluded. Each zone has a buffer area surrounding one or more of the objects. The controller further directs the radiotherapy equipment such that a radiotherapy treatment plan is delivered without the equipment entering into the exclusionary zones.