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

TL;DR

This paper introduces a real-time 6DoF trajectory planning method for robotic motion compensation in image-guided radiation therapy, optimizing tumor targeting while minimizing healthy tissue exposure.

Contribution

It presents a novel motion planning approach using ultrafast optimization for real-time 6D correction in radiation therapy, surpassing prior control-based methods.

Findings

First real-time 6DoF trajectory planning for radiation therapy

Flexible optimization of multiple performance criteria

Enhanced tumor targeting accuracy

Abstract

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