A method of generating a treatment plan for delivering treatment light for intracavitary photodynamic therapy to a targeted region within a cavity of a patient may include receiving shape information for an interior surface of the cavity. A first set of control points located on a first trajectory within the cavity is initialized by assigning, to each of the first set of control points, one or more axis positions of a treatment light emitter relative to the interior surface of the cavity. A simulated total treatment dose is iteratively optimized relative to a set of one or more optimization goals when the treatment light emitter is activated to emit treatment light at each of the first set of control points. The treatment plan is then generated to provide a total treatment dose to the targeted region.

An interventional therapy system (100, 200, 300, 900) may include at least one catheter configured for insertion within an object of interest (OOI); and at least one controller (102, 202, 910) which: obtains a reference image dataset (540) comprising a plurality of image slices which form a three-dimensional image of the OOI, defines restricted areas (RAs) within the reference image dataset, determines location constraints for the at least one catheter in accordance with at least one of planned catheter intersection points, a peripheral boundary of the OOI and the RAs defined in the reference dataset, determines at least one of a position and an orientation of the distal end of the at least one catheter, and/or determines a planned trajectory for the at least one catheter in accordance with the determined at least one position and orientation for the at least one catheter and the location constraints.

An interventional therapy system (100, 200, 300, 900) may include at least one catheter configured for insertion within an object of interest (OOI); and at least one controller (102, 202, 910) which: obtains a reference image dataset (540) comprising a plurality of image slices which form a three-dimensional image of the OOI, defines restricted areas (RAs) within the reference image dataset, determines location constraints for the at least one catheter in accordance with at least one of planned catheter intersection points, a peripheral boundary of the OOI and the RAs defined in the reference dataset, determines at least one of a position and an orientation of the distal end of the at least one catheter, and/or determines a planned trajectory for the at least one catheter in accordance with the determined at least one position and orientation for the at least one catheter and the location constraints.

A bio-stimulation robot includes a stationary platform, a plurality of drive modules coupled to the stationary platform, and a motion platform coupled to the drive modules to operate to change a position of the motion platform. Each of the drive modules includes a first guide member having an arc shape, a motion member coupled to the first guide, and a leg member having a first end coupled to the motion member and a second end fixed to the motion platform. The motion member slides along the first guide member. The second end of the leg member is rotatably connected to the motion platform. The second end of the leg member is rotatably connected to the motion platform.

A system and method for compensating for torque reaction forces in a medical, apparatus is disclosed. The astern may include a rotary element which rotates about an axis. A contra-rotating flywheel may be driven to rotate about the axis relative to the rotary element, wherein the flywheel is free to rotate and is accelerated and decelerated by a driver which is fixed to the rotary element. Contra-rotation of the flywheel may compensate for torque reaction forces when the rotary element is accelerated or decelerated.

A method of radiating a plurality of masses in a patient is provided, including receiving a three-dimensional model of the patient, the model including respective locations of a plurality of OARs, receiving a set of locations in the model corresponding to the masses, respective prescribed radiation dosages for the masses, and respective radiation limits for the OARs. The method includes computing a candidate set of beams having respective beam paths that travel through at least one of the masses. The method includes scoring the candidate set of beams based on respective dosages provided to the masses, respective dosages provided to the OARs, and beams in a set of selected beams for treatment, adding a best-scoring beam among the candidate set of beams to the set of selected beams, and radiating the masses using the set of selected beams.

A beam transport assembly conveys a particle beam from a particle source to an irradiation nozzle, which rotates about a swivel axis at the horizontal input of the nozzle. A support can move horizontally in a plane perpendicular to the swivel axis. The beam transport assembly can change a path length of the particle beam so as to follow a vertical location of the swivel axis of the irradiation nozzle with respect to the support. A controller can coordinate the path length change of the particle beam, rotation of the irradiation nozzle about the swivel axis, and/or horizontal motion of the support to provide irradiation of a supported object from various angles in the plane perpendicular to the swivel axis while maintaining the irradiation nozzle at a constant distance from the supported object.

A solid state lighting system performing color changes based on time of day. The light source may be an OLED panel, a quantum dot, pin point source. The light may be programed based on circadian rhythms, and may have separate controllers for each light source. T light may be a threaded lamp, or be installed into a fluorescent lamp fixture.

A solid state lighting system performing color changes based on time of day. The light source may be an OLED panel, a quantum dot, pin point source. The light may be programed based on circadian rhythms, and may have separate controllers for each light source. T light may be a threaded lamp, or be installed into a fluorescent lamp fixture.

Interstitial brachytherapy is a cancer treatment in which radioactive material is placed directly in the target tissue of the affected site using an afterloader. The accuracy of radiation placement is monitored during the cancer treatment. The location plan for the radioactive material may be adjusted during the cancer treatment based on real-time analysis of the location and dosage of radiation measured in, at and around the target tissue of the affected site.