Planning, Calibration and Collision Avoidance for Image-Guided Radiosurgery

Classical radiosurgical systems used in radiosurgery were seen to suffer limitations thus, treatment becomes ineffective. Recently, a new radiosurgical system was built to overcome those limitations. This is a camera guided system capable of tracking patient motion during treatment. The radiation source is moved by a six degree-of-freedom robotic arm. This system offers benefits such as cost effectiveness, it is less invasive, allows less painful treatment and permits the arbitrary spatial motion of the radiation source. These advantages make it possible for the treatment of non-spherical lesions with accuracies unachievable with classical radiosurgical systems. At the heart of a new class of procedures introduced by this system are algorithms for planning treatment and the corresponding beam motion, provided by the geometric description of the tumor shape and relative locations in a specific case.