Path planning and collision avoidance for movement of instruments in a radiation therapy environment

A therapy delivery system comprising:

• a plurality of movable components including a radiation therapy nozzle and a patient pod for holding a patient;
• means for determining a desired position of at least one of the plurality of movable components;
• and
• means for coordinating the movement of the least one of the plurality of movable components from a current position to the desired position, wherein the movement coordinating means comprises a means for simulating at least one projected trajectory of movement of the least one of the plurality of moveable components from the current position to the desired position.

A method of positioning a patient for delivery of therapy, the method comprising:

• measuring a current position of a plurality of movable components of a therapy delivery system including a radiation therapy nozzle and a patient pod for holding a patient;
• determining a desired position of at least one of the plurality of movable components;
• and
• coordinating the movement of the least one of the plurality of movable components from the current position to the desired position, wherein coordinating the movement comprises simulating at least one projected trajectory of movement of the least one of the plurality of moveable components from the current position to the desired position to determine a planned path,
• wherein the steps of measuring, determining and coordinating are performed at least in part in electronic hardware.