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We present for the first time a general 6DoF trajectory planning method thatcan be used in real-time image guided radiation therapy procedures for roboticstabilization of dynamically moving tumor targets. As the radiation beam isalways on during the motion compensation process, it is mandatory that the 6Dcorrection trajectory is optimal both spatially and temporally in order tomaximize radiation to the tumor and minimize unintentional irradiation ofhealthy tissues. Unlike prior works, which relied on motion control approachesas PID or other controllers, this work presents the concept of motion planning,where all potential 6D trajectories are searched using ultrafast optimizationmethods and the best trajectory is chosen. As the method formulates the problemas an objective function to be solved, it allows high flexibility in that userscan optimize various performance requirements such as mechanical robot limits,patient velocities, or other aspects that must operate within certain limits inorder to ensure a safe medical process.

Trajectory planning optimization for real-time 6DOF robotic patient motion compensation