A verification device for robotic radiotherapy provides beam imaging displaced from an isocenter of a treatment plan to isolate individual beams for comparison to a baseline image to deduce convergence or target deviations in each of three dimensions over the area of a planar imager and perpendicular to that area.

A radiotherapy system and method for delivering radiotherapy are provided. In some aspects, the radiotherapy system includes beam director comprising a radiation source configured to generate radiation for irradiating a patient, the beam director having at least four degrees of freedom of movement. The radiotherapy system also includes a controller configured to operate the beam director to irradiate the patient in accordance with a radiation treatment plan, wherein the radiation treatment plan is generated based on a solution space determined by the at least four degrees of freedom of movement of the beam director.

Provided is a fully-spherical radiation therapy system. The fully-spherical radiation therapy system includes a multi-degree-of-freedom robot, a linear accelerator and a double-image-guided positioning mechanism. The double-image-guided positioning mechanism includes four ray sources and two ray detectors, and the four ray sources include a first ray source, a second ray source, a third ray source and a fourth ray source. An intersection of two beams emitted by the first ray source and the second ray source is a low-level treatment center, an intersection of two beams emitted by the third ray source and the fourth ray source is a high-level treatment center, and the low-level treatment center and the high-level treatment center form a fully-spherical treatment space for multiple treatment nodes of a spherical center.

A method includes detecting a potential setup error in a radiation treatment delivery session of a radiation treatment delivery system, wherein the setup error corresponds to a change in a current position of a treatment target relative to a prior position of the treatment target, and wherein the change includes a rotation relative to the prior position of the treatment target. The method further includes modifying, by a processing device, one or more planned leaf positions of a multileaf collimator (MLC) of a linear accelerator (LINAC) of the radiation treatment delivery system to compensate for the potential setup error corresponding to the rotation of the prior position of the treatment target.

The present invention provides improved methods and apparatus that use machine vision techniques to rapidly and automatically guide objects into desired docking configurations. The present invention is based at least in part upon using multi-depth, rotationally symmetric targets that are observed from two or more observation perspectives. By taking advantage of parallax effects associated with the multi-depth topography of the target, the apparent positions of target features in captured image information encodes position and angular alignment of the objects relative to each other in three dimensional space. The practice of the present invention provides a fast, accurate, reliable and automatic approach to achieve hard or soft docking configurations in the electron beam therapies as well as to implement real-time gating and tracking during the course of a treatment.

A multi-robotic arm apparatus for intraoperative radiotherapy is provided. The apparatus may comprise a chassis, a main robotic arm mounted on the chassis for moving a radiation head installed at an end thereof, a first robotic arm mounted on the chassis having a first robotic arm end gripper for gripping an imaging device or a treatment applicator; and a second robotic arm mounted on the chassis having a second robotic arm end gripper for gripping a simulation applicator.

A radiosurgical method for treating cardiorenal disease of a patient, the method including directing radiosurgery radiation from outside the patient towards one or more target treatment regions encompassing sympathetic ganglia of the patient so as to inhibit the cardiorenal disease. In an exemplary embodiment, the method further includes acquiring three dimensional planning image data encompassing the first and second renal arteries, planning an ionizing radiation treatment of first and second target regions using the three dimensional planning image data so as to mitigate the hypertension, the first and second target regions encompassing neural tissue of or proximate to the first and second renal arteries, respectively, and remodeling the target regions by directing the planned radiation from outside the body toward the target regions.

A radiotherapy apparatus comprises a source for producing a beam of ionising radiation along an axis, the beam covering a maximum aperture of the source, a collimator for collimating the beam to produce a collimated beam covering a sub-part of the maximum aperture, a patient support positioned in the path of the beam, a rotatable gantry, on which the source is mounted, for rotating the source around the patient support thereby to deliver the beam from a range of directions, an imaging device located opposite the source and with the patient support between the source and the imaging device, and mounted on the gantry via a drive member allowing translational motion of the imaging device in at least one direction perpendicular to the axis, and a control unit adapted to control the drive member to move the imaging device within the maximum aperture and maintain coincidence between the imaging device and the sub-part of the maximum aperture. Accordingly, the EPID can be moved during the treatment in order to maintain the collimated field of the radiation beam within the bounds of the EPID. This ensures that the image is valid and prevents damage to the EPID as a result of exposure of more sensitive (or less shielded) parts to the beam.

A radiotherapy system and method for delivering radiotherapy are provided. In some aspects, the radiotherapy system includes beam director comprising a radiation source configured to generate radiation for irradiating a patient, the beam director having at least four degrees of freedom of movement. The radiotherapy system also includes a controller configured to operate the beam director to irradiate the patient in accordance with a radiation treatment plan, wherein the radiation treatment plan is generated based on a solution space determined by the at least four degrees of freedom of movement of the beam director.

Real-time X-ray dosimetry sensing in intraoperative radiation therapy (IORT). According to one aspect, a treatment head comprises at least one X-ray component configured to facilitate generation of therapeutic radiation in the X-ray wavelength range. A resilient balloon is disposed over the treatment head and configured for receiving therein a fluid to facilitate X-ray treatment of a tumor cavity. A plurality of X-ray sensing elements is disposed at a plurality of locations distributed on the interior or exterior of the resilient balloon and configured for sensing X-ray radiation emanating from the treatment head. A control system is provided that is responsive to data received from the X-ray sensing elements to determine a magnitude of X-ray radiation detected at each of the X-ray sensing elements.