Abstract: A set of 2D reconstructed images is generated from a pretreatment 3D scan showing an initial position of a target, wherein the set of 2D reconstructed images corresponds to perturbations from said initial position along fewer than six degrees of freedom. Said set of 2D reconstructed images are registered with one or more 2D x-ray images of said target showing a current position of the target, wherein the registering includes computing a set of 3D transformation parameters that represent a change in position of said target between said initial position of said pretreatment 3D scan and said current position of said 2D x-ray images along six degrees of freedom. A positioning system is instructed to adjust a relative position of a radiosurgical beam generator to said target by an amount prescribed by said 3D transformation parameters, wherein said target is allowed six degrees of freedom of position.

Abstract: An apparatus and method for determining optimized path traversal in a radiation delivery system is described. In one embodiment, determining an optimized path traversal in a radiation delivery system involves providing a plurality of spatial nodes used in a treatment plan, where each of the plurality of spatial nodes represents a position of a radiation source made available to the treatment plan for delivering radiation to a target, identifying a number of unused spatial nodes, from among the plurality of spatial nodes, at which radiation is not delivered according to the treatment plan, and skipping travel to one or more of the unused nodes by the radiation source when administering the treatment plan. Other embodiments are also described.

Abstract: Systems, methods, and related computer program products for image-guided radiation treatment (IGRT) are described. For one preferred embodiment, an IGRT apparatus is provided comprising a ring gantry having a central opening sufficiently large to accommodate a body of a patient positioned along a longitudinal axis and extending therethrough, and a gantry tilting mechanism configured to tilt the ring gantry to a plurality of different tilt angles relative to the longitudinal axis. A radiation treatment head is coupled to the ring gantry and is rotatable around said central opening in at least a 180 degree arc. The radiation treatment head is mechanically coupled to the ring gantry such that a distance by which the radiation treatment head extends inwardly toward the central opening relative to the ring gantry is dynamically controllable.

Abstract: A method and apparatus for radiation treatment planning are described. The method includes receiving a plurality of radiation treatment-planning parameters, and sequentially optimizing the plurality of radiation treatment-planning parameters.

Abstract: A method and apparatus to select a correlation model from a plurality of correlation models to track target movement based on movement of an external marker.

Abstract: A robotic patient positioning assembly including a patient treatment couch, and a robotic arm coupled to the patient treatment couch. The robotic arm is configured to move the patient treatment couch along five rotational degrees of freedom and one substantially vertical, linear degree of freedom.

Abstract: A method and apparatus for positioning a patient for radiation treatment are described. The method includes obtaining a plurality of projection images of a patient positioned on a treatment couch, displaying at least one of the plurality of projection images with a corresponding synthetic projection image on a display, adjusting the position of the at least one projection image on the display to approximately align with the corresponding synthetic projection image in response to a user dragging the at least one projection image on the display with a user interface device, and moving the treatment couch to position the patient based on position adjustments of the at least one projection image.

Abstract: An image guided treatment is performed to treat a target. To perform the image guided treatment, measurement data indicative of target motion is acquired. A timing of one or more x-ray images is determined based on the measurement data. Treatment may be performed on the target using the position of the target.

Abstract: A robotic treatment delivery system including a linear accelerator (LINAC), and a robotic manipulator coupled to the LINAC. The robotic manipulator is configured to move the LINAC along seven or more degrees of freedom, at least one of the seven degrees of freedom being a redundant degree of freedom.

Abstract: An apparatus and method for coupling a fixed-aperture collimator to a variable-aperture collimator. The variable-aperture collimator may be an IRIS collimator having multiple leaves configured to open and close an aperture of the IRIS collimator within which the fixed-aperture collimator is retained.

Abstract: Systems, methods and apparatus to detect a treatment target having motion in up to three translational directions using direct registration of the target and track the target to synchronize a treatment beam with the motion of the target.

Abstract: A method and apparatus for selectively and accurately localizing and treating a target within a patient are provided. A three dimensional mapping of a region surrounding the target is coupled to a surgical intervention. Two or more diagnostic beams at a known non-zero angle to one another may pass through the mapping region to produce images of projections within the mapping region in order to accurately localize and treat the target wherein the images are captured using one or more image recorders.

Abstract: A method and system for aligning a volume of interest in a three-dimensional treatment coordinate system with a reference position using stereoscopic imaging data and for monitoring and correcting alignment of the volume of interest in the three-dimensional treatment coordinate system using monoscopic imaging data.

Abstract: A method and apparatus for treatment planning are described.

Abstract: Systems, methods, and related computer program products for image-guided radiation treatment (IGRT) are described. For one preferred embodiment, an IGRT apparatus is provided comprising a ring gantry having a central opening and a radiation treatment head coupled to the ring gantry that is rotatable around the central opening in at least a 180 degree arc. For one preferred embodiment, the apparatus further comprises a gantry translation mechanism configured to translate the ring gantry in a direction of a longitudinal axis extending through the central opening. Noncoplanar radiation treatment delivery can thereby be achieved without requiring movement of the patient. For another preferred embodiment, an independently translatable 3D imaging device distinct from the ring gantry is provided for further achieving at least one of pre-treatment imaging and setup imaging of the target tissue volume without requiring movement of the patient.

Abstract: A method and apparatus to develop an advanced correlation model of movement of a target within a patient, which needs less data points and can adapt to the changes of respiration behavior automatically.

Abstract: A method and apparatus to track non-linear internal target movement based on movement of an external marker.

Abstract: Systems, methods, and related computer program products for image-guided radiation treatment (IGRT) are described. Provided according to one preferred embodiment is an IGRT apparatus including a barrel-style rotatable gantry structure that provides high mechanical stability, versatility in radiation delivery, and versatility in target tracking. Methods for treatment radiation delivery using the IGRT apparatus include conical non-coplanar rotational arc therapy and cono-helical non-coplanar rotational arc therapy. A radiation treatment head (MV source) and a treatment guidance imaging system including a kV imaging source are mounted to and rotatable with a common barrel-style rotatable gantry structure, or alternatively the MV and kV sources are mounted to separate barrel-style rotatable gantry structures independently rotatable around a common axis of rotation.

Abstract: Systems, methods, and related computer program products for image-guided radiation treatment (IGRT) are described. Provided according to one preferred embodiment is an IGRT apparatus including a barrel-style rotatable gantry structure that provides high mechanical stability, versatility in radiation delivery, and versatility in target tracking. Methods for treatment radiation delivery using the IGRT apparatus include conical non-coplanar rotational arc therapy and cono-helical non-coplanar rotational arc therapy. A radiation treatment head (MV source) and a treatment guidance imaging system including a kV imaging source are mounted to and rotatable with a common barrel-style rotatable gantry structure, or alternatively the MV and kV sources are mounted to separate barrel-style rotatable gantry structures independently rotatable around a common axis of rotation.

Abstract: Apparatus and methods of dynamically tracking a soft tissue target with ultrasound images are described. An apparatus includes an ultrasound imager coupled to a robotic arm. A method includes acquiring a first ultrasound (US) image of a patient with an ultrasound imager, determining a quality metric of the first US image, and adjusting one or more imaging parameters of the ultrasound imager if the quality metric of the acquired first US image is less than a quality threshold.