# US 10,863,955 B2 · Coordinated motion of a rotating 2D x-ray imager and a linear accelerator > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,863,955 B2 - Document ID: US10863955B2 - Status: Granted - Kind: B2 - Application number: 15/862,477 - Filed: 2018-01-04 - Published: 2018-07-12 - Granted: 2020-12-15 - Earliest claimed: 2017-01-06 - Assignees: Accuray Incorporated - Applicants: Accuray Incorporated - Inventors: Michael P. Naylor; Matthew Core; Petr Jordan; Calvin R. Maurer, Jr. - Web page: https://patentgrep.com/patent/US10863955B2 ## CPC - A61B 6/4458: {the source unit or the detector unit being attached to robotic arms} - A61B 6/032: {Transmission computed tomography [CT]} - A61B 6/102: {Protection against mechanical damage, e.g. anti-collision devices} - A61B 6/4007: {characterised by using a plurality of source units} - A61B 6/4014: {arranged in multiple source-detector units} - A61B 6/4266: {characterised by using a plurality of detector units (A61B6/4014 takes precedence)} - A61B 6/4435: {the source unit and the detector unit being coupled by a rigid structure} - A61B 6/4476: {related to motor-assisted motion of the source unit} - A61B 6/486: {involving generating temporal series of image data} - A61B 6/5235: {combining images from the same or different ionising radiation imaging techniques, e.g. PET and CT} - A61N 5/1049: {for verifying the position of the patient with respect to the radiation beam} - A61N 5/1067: {in real time, i.e. during treatment} - A61N 5/1083: {Robot arm beam systems} - B25J 9/04: by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type - G02B 30/54: the three-dimensional [3D] volume being generated by moving a two-dimensional [2D] surface, e.g. by vibrating or rotating the 2D surface - G21K 1/025: {using multiple collimators, e.g. Bucky screens; other devices for eliminating undesired or dispersed radiation} - A61B 6/4085: {Cone-beams} - A61B 6/4464: {the source unit or the detector unit being mounted to ceiling} - A61B 6/466: {adapted to display 3D data} - A61B 6/5264: {due to motion} - A61B 8/5276: {due to motion} - A61B 2034/2065: {Tracking using image or pattern recognition} - A61N 5/1037: {taking into account the movement of the target, e.g. 4D-image based planning} - A61N 5/1081: {Rotating beam systems with a specific mechanical construction, e.g. gantries} - A61N 2005/1054: {using a portal imaging system} - A61N 2005/1061: {using an x-ray imaging system having a separate imaging source} - A61N 2005/1072: {taking into account movement of the target} - H05H 9/00: Linear accelerators - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - A61N: ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY (measurement of bioelectric currents A61B; surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body A61B18/00; anaesthetic apparatus in general A61M; incandescent lamps H01K; infrared radiators for heating H05B) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G02B: OPTICAL ELEMENTS, SYSTEMS OR APPARATUS - G21K: HANDLING OF PARTICLES OR IONISING RADIATION NOT OTHERWISE PROVIDED FOR; IRRADIATION DEVICES; GAMMA RAY OR X-RAY MICROSCOPES - H05H: PLASMA TECHNIQUE (apparatus or processes specially adapted for producing X-rays H05G2/00); PRODUCTION OF ACCELERATED ELECTRICALLY-CHARGED PARTICLES OR OF NEUTRONS; PRODUCTION OR ACCELERATION OF NEUTRAL MOLECULAR OR ATOMIC BEAMS ## Abstract A method includes determining a first set of positions for a volumetric imager and determining a second set of positions for a linear accelerator (LINAC), during radiation treatment delivery. The method further includes determining a set of radiation beam directionalities of the LINAC, wherein for each of the second set of positions for the LINAC a radiation beam corresponds to a radiation beam directionality. The method further includes generating instructions for the volumetric imager based on the first and the second set of positions, the radiation beam directionalities, and a treatment time constraint to avoid a collision between the volumetric imager and the LINAC and between the volumetric imager and the radiation beam, wherein the instructions include physical locations of the volumetric imager and timing values corresponding to the physical locations. The method further includes operating the volumetric imager during the radiation treatment delivery according to the set of instructions. ## Claims ### Claim 1 A method of operating a radiation treatment delivery system, comprising: determining a first set of possible positions for a component of a volumetric imager for radiation treatment delivery, the first set of positions corresponding to possible volumetric imager positions for the radiation treatment delivery; determining a second set of positions for a linear accelerator (LINAC) for radiation treatment delivery, the second set of positions corresponding to determined LINAC positions for the radiation treatment delivery; determining a set of radiation beam directionalities of the LINAC for the radiation treatment delivery, wherein for each of the second set of positions for the LINAC a radiation beam corresponds to a radiation beam directionality from a plurality of possible radiation beam directionalities; generating, by a processing device, a set of instructions for the volumetric imager based on the first set of positions, the second set of positions, the set of radiation beam directionalities, and a treatment time constraint to avoid a collision between the volumetric imager and the LINAC and between the volumetric imager and the radiation beam, wherein the set of instructions comprises physical locations of the volumetric imager and timing values corresponding to the physical locations; and operating the volumetric imager during the radiation treatment delivery according to the set of instructions. ### Claim 2 (depends on 1) The method of claim 1, wherein generating the set of instructions for the volumetric imager comprises: determining whether each position in the first set of positions is safe from collision with the LINAC and from collision with the radiation beam path, along which the LINAC is directing the radiation beam; generating a subset of positions, from the first set of positions, wherein each position in the subset of positions is safe from collision; generating a filtered subset of positions, from the subset of positions, wherein the filtered subset comprises positions of the subset of positions that do not violate the treatment time constraint; and generating the set of instructions for the volumetric imager based on the filtered subset of positions. ### Claim 3 (depends on 1) The method of claim 1, further comprising: optimizing the set of instructions for the volumetric imager based on a minimum motion time of the radiation treatment delivery. ### Claim 4 (depends on 1) The method of claim 1, further comprising: optimizing the set of instructions for the volumetric imager based on minimum volumetric imager movement during radiation treatment delivery. ### Claim 5 (depends on 1) The method of claim 1, further comprising: optimizing the set of instructions for the volumetric imager based on maximizing a distance between the radiation beam and the volumetric imager during delivery. ### Claim 6 (depends on 1) The method of claim 1, further comprising: generating the set of instructions for the volumetric imager based on a radiation beam size during radiation treatment delivery. ### Claim 7 (depends on 1) The method of claim 1, further comprising: determining whether a collision is occurring or is about to occur; and pausing the radiation treatment delivery in response to the collision occurring or about to occur. ### Claim 8 (depends on 1) The method of claim 1, further comprising: performing a simulated radiation treatment delivery based on the set of instructions for the volumetric imager; and providing a notification to a user in response to a collision occurring during the simulated delivery. ### Claim 9 A radiation treatment delivery system comprising: a memory; and a processing device, operatively coupled with the memory, to: determine a first set of possible positions for a component of a volumetric imager for radiation treatment delivery, the first set of positions corresponding to possible volumetric imager positions for the radiation treatment delivery; determine a second set of positions for an x-ray linear accelerator (LINAC) for radiation treatment delivery, the second set of positions corresponding to predetermined LINAC positions for the radiation treatment delivery; determine a third set of positions for a radiation beam of the LINAC during radiation treatment delivery, the third set of positions corresponding to predetermined radiation beam positions for the radiation treatment delivery; generate, by the processing device, a set of instructions for the volumetric imager based on the first set of positions, the second set of positions, the third set of radiation beam positions, and a treatment time constraint to avoid a collision between the volumetric imager and the LINAC and between the volumetric imager and the radiation beam, wherein the set of instructions comprises physical locations of the volumetric imager and timing values corresponding to the physical locations; and operate the volumetric imager during the radiation treatment delivery according to the set of instructions. ### Claim 10 (depends on 9) The radiation treatment delivery system of claim 9, wherein to generate the set of instructions for the volumetric imager, the processing device is to: determine whether each position in the first set of positions is safe from collision with the LINAC and from collision with the radiation beam path, along which the LINAC is directing the radiation beam; generate a subset of positions, from the first set of positions, wherein each position in the subset of positions is safe from collision; generate a filtered subset of positions, from the subset of positions, wherein the filtered subset comprises positions of the subset of positions that do not violate the treatment time constraint; and generate the set of instructions for the volumetric imager based on the filtered subset of positions. ### Claim 11 (depends on 9) The radiation treatment delivery system of claim 9, the processing device further to: optimize the set of instructions for the volumetric imager based on a minimum motion time of the radiation treatment delivery. ### Claim 12 (depends on 9) The radiation treatment delivery system of claim 9, the processing device further to: optimize the set of instructions for the volumetric imager based on minimum volumetric imager movement during radiation treatment delivery. ### Claim 13 (depends on 9) The radiation treatment delivery system of claim 9, the processing device further to: optimize the set of instructions for the volumetric imager based on maximizing a distance between the radiation beam and the volumetric imager during delivery. ### Claim 14 (depends on 9) The radiation treatment delivery system of claim 9, the processing device further to: generate the set of instructions for the volumetric imager based on a radiation beam size during radiation treatment delivery. ### Claim 15 (depends on 9) The radiation treatment delivery system of claim 9, the processing device further to: determine whether a collision is occurring or is about to occur; and pause the radiation treatment delivery in response to the collision occurring or about to occur. ### Claim 16 (depends on 9) The radiation treatment delivery system of claim 9, the processing device further to: perform a simulated radiation treatment delivery based on the set of instructions for the volumetric imager; and provide a notification to a user in response to a collision occurring during the simulated delivery. ### Claim 17 A non-transitory computer readable medium comprising instructions that, when executed by a processing device of a radiation treatment delivery system, cause the processing device to: determine a first set of possible positions for a component of a volumetric imager for radiation treatment delivery, the first set of positions corresponding to possible volumetric imager positions for the radiation treatment delivery; determine a second set of positions for an x-ray linear accelerator (LINAC) for radiation treatment delivery, the second set of positions corresponding to predetermined LINAC positions for the radiation treatment delivery; determine a third set of positions for a radiation beam of the LINAC during radiation treatment delivery, the third set of positions corresponding to predetermined radiation beam positions for the radiation treatment delivery; generate, by the processing device, a set of instructions for the volumetric imager based on the first set of positions, the second set of positions, the third set of positions, and a treatment time constraint to avoid a collision between the volumetric imager and the LINAC and between the volumetric imager and the radiation beam, wherein the set of instructions comprises physical locations of the volumetric imager and timing values corresponding to the physical locations; and operate the volumetric imager during the radiation treatment delivery according to the set of instructions. ### Claim 18 (depends on 17) The non-transitory computer readable medium of claim 17, wherein to generate the set of instructions for the volumetric imager, the processing device is to: determine whether each position in the first set of positions is safe from collision with the LINAC and from collision with the radiation beam path, along which the LINAC is directing the radiation beam; generate a subset of positions, from the first set of positions, wherein each position in the subset of positions is safe from collision; generate a filtered subset of positions, from the subset of positions, wherein the filtered subset comprises positions of the subset of positions that do not violate the treatment time constraint; and generate the set of instructions for the volumetric imager based on the filtered subset of positions. ### Claim 19 (depends on 17) The non-transitory computer readable medium of claim 17, the processing device further to: optimize the set of instructions for the volumetric imager based on at least one of: a minimum motion time of the radiation treatment delivery, minimum volumetric imager movement during radiation treatment delivery, or maximizing a distance between the radiation beam and the volumetric imager during delivery. ### Claim 20 (depends on 17) The non-transitory computer readable medium of claim 17, the processing device further to: perform a simulated radiation treatment delivery based on the set of instructions for the volumetric imager; and provide a notification to a user in response to a collision occurring during the simulated delivery. ### Claim 21 (depends on 20) The non-transitory computer readable medium of claim 20, wherein the processing device is to perform the simulated radiation treatment delivery and provide the notification based on at least one of a change in a couch position or a change in imaging corrections.