Abstract: Disclosed herein are systems and methods for adapting and/or updating radiotherapy treatment plans based on biological and/or physiological data and/or anatomical data extracted or calculated from imaging data acquired in real-time (e.g., during a treatment session). Functional imaging data acquired at the time of radiation treatment is used to modify a treatment plan and/or dose delivery instructions to provide a prescribed dose distribution to patient target regions. Also disclosed herein are methods for evaluating treatment plans based on imaging data acquired in real-time.

Abstract: Disclosed herein are methods for patient setup and patient target region localization for the irradiation of multiple patient target regions in a single treatment session. Virtual localization is a method that can be used to register a patient target region without requiring that the patient is physically moved using the patient platform. Instead, the planned fluence is updated to reflect the current location of the patient target region by selecting a localization reference in the localization image, calculating a localization function based on the localization reference point, and calculating the delivery fluence by convolving the localization function with a shift-invariant firing filter. Mosaic multi-target localization partitions a planned fluence map for multiple patient target regions into sub-regions that can be individually localized.

Abstract: Disclosed herein are systems and methods for measuring the radiation emitted from the therapeutic radiation source. One variation of a radiotherapy system includes a radiation measurement device that is coupled to a radiotherapy system housing. The radiation measurement device may be movably coupled to the housing, and its position and/or motion is independent from the position and/or motion of the therapeutic radiation source. In one variation, the radiation measurement device is at a location on the system housing where it may measure exit beams with little or no interference with entrance beams. Also disclosed herein are radiotherapy systems that include one or more radiopaque or radiation emitting fiducials coupled to the housing.

Abstract: Disclosed herein are methods for patient setup and patient target region localization for the irradiation of multiple patient target regions in a single treatment session. Virtual localization is a method that can be used to register a patient target region without requiring that the patient is physically moved using the patient platform. Instead, the planned fluence is updated to reflect the current location of the patient target region by selecting a localization reference in the localization image, calculating a localization function based on the localization reference point, and calculating the delivery fluence by convolving the localization function with a shift-invariant firing filter. Mosaic multi-target localization partitions a planned fluence map for multiple patient target regions into sub-regions that can be individually localized.

Abstract: Disclosed herein are methods for patient setup and patient target region localization for the irradiation of multiple patient target regions in a single treatment session. Virtual localization is a method that can be used to register a patient target region without requiring that the patient is physically moved using the patient platform. Instead, the planned fluence is updated to reflect the current location of the patient target region by selecting a localization reference in the localization image, calculating a localization function based on the localization reference point, and calculating the delivery fluence by convolving the localization function with a shift-invariant firing filter. Mosaic multi-target localization partitions a planned fluence map for multiple patient target regions into sub-regions that can be individually localized.

Abstract: Disclosed herein are systems and methods for rapidly delivering high doses of radiation, also known as, flash dose radiotherapy or flash radiotherapy. One variation of a system for flash radiotherapy has a plurality of therapeutic radiation sources on a support structure (e.g., a gantry or arm) and configured to toward a patient target region, and a controller in communication with all of the therapeutic radiation sources. The controller is configured to activate the plurality of therapeutic radiation sources simultaneously so that the patient target region rapidly receives a high dose of radiation, e.g. the entire prescribed dose of radiation. In some variations, a flash radiotherapy system has a pulsed, high-power source that may be used to generate an X-ray pulse that delivers a dose having a dose rate from about 7.5 Gy/s to about 70 Gy/s. Flash radiotherapy systems may also include one or more imaging systems mounted on the support structure.

Abstract: Disclosed herein are systems and methods for adapting and/or updating radiotherapy treatment plans based on biological and/or physiological data and/or anatomical data extracted or calculated from imaging data acquired in real-time (e.g., during a treatment session). Functional imaging data acquired at the time of radiation treatment is used to modify a treatment plan and/or dose delivery instructions to provide a prescribed dose distribution to patient target regions. Also disclosed herein are methods for evaluating treatment plans based on imaging data acquired in real-time.

Abstract: Disclosed herein are systems and methods for adapting and/or updating radiotherapy treatment plans based on biological and/or physiological data and/or anatomical data extracted or calculated from imaging data acquired in real-time (e.g., during a treatment session). Functional imaging data acquired at the time of radiation treatment is used to modify a treatment plan and/or dose delivery instructions to provide a prescribed dose distribution to patient target regions. Also disclosed herein are methods for evaluating treatment plans based on imaging data acquired in real-time.

Abstract: A robotic surgical system comprises an instrument chassis assembly including an elongated member extending along a chassis axis, a proximal mounting section, a distal mounting section, and an instrument interface coupled to the proximal mounting section. The robotic surgical system further comprises an actuation system coupled to the proximal mounting section. The robotic surgical system further comprises a linkage system operably coupled between the actuation system and the distal mounting section. The linkage system includes an instrument guide. The robotic surgical system further comprises a surgical instrument including a proximal portion coupled with the instrument interface and a distal portion coupled with the instrument guide. The surgical instrument is pivotable via the instrument guide relative to the chassis axis.

Abstract: Disclosed herein are systems and methods for rapidly delivering high doses of radiation, also known as, flash dose radiotherapy or flash radiotherapy. One variation of a system for flash radiotherapy has a plurality of therapeutic radiation sources on a support structure (e.g., a gantry or arm) and configured to toward a patient target region, and a controller in communication with all of the therapeutic radiation sources. The controller is configured to activate the plurality of therapeutic radiation sources simultaneously so that the patient target region rapidly receives a high dose of radiation, e.g. the entire prescribed dose of radiation. In some variations, a flash radiotherapy system has a pulsed, high-power source that may be used to generate an X-ray pulse that delivers a dose having a dose rate from about 7.5 Gy/s to about 70 Gy/s. Flash radiotherapy systems may also include one or more imaging systems mounted on the support structure.

Abstract: Disclosed herein are methods for patient setup and patient target region localization for the irradiation of multiple patient target regions in a single treatment session. Virtual localization is a method that can be used to register a patient target region without requiring that the patient is physically moved using the patient platform. Instead, the planned fluence is updated to reflect the current location of the patient target region by selecting a localization reference in the localization image, calculating a localization function based on the localization reference point, and calculating the delivery fluence by convolving the localization function with a shift-invariant firing filter. Mosaic multi-target localization partitions a planned fluence map for multiple patient target regions into sub-regions that can be individually localized.

Abstract: A robotic surgical system comprises an instrument chassis assembly including an elongated member extending along a chassis axis, a proximal mounting section, a distal mounting section, and an instrument interface coupled to the proximal mounting section. The robotic surgical system further comprises an actuation system coupled to the proximal mounting section. The robotic surgical system further comprises a linkage system operably coupled between the actuation system and the distal mounting section. The linkage system includes an instrument guide. The robotic surgical system further comprises a surgical instrument including a proximal portion coupled with the instrument interface and a distal portion coupled with the instrument guide. The surgical instrument is pivotable via the instrument guide relative to the chassis axis.

Abstract: An instrument chassis for a robotic surgical system comprises a bridge member, a first instrument guide member configured to receive a first surgical instrument, and a second instrument guide member configured to receive a second surgical instrument. Each of the first instrument guide member and the second instrument guide member is moveably coupled to the bridge member such that each of the first instrument guide member and the second instrument guide member is moveable in at least one degree of freedom relative to the bridge member. The instrument chassis further comprises a central instrument guide member coupled to the bridge member between the first instrument guide member and the second instrument guide member. The central instrument guide member is configured to receive a third surgical instrument. Each of the first instrument guide member and the second instrument guide member is slidably movable relative to the bridge member.

Abstract: A robotic surgical method comprises providing an instrument chassis having a proximal mounting section and a distal mounting section rigidly coupled to the proximal mounting section, an instrument guide assembly movably coupled to the distal mounting section, a pair of proximal actuators coupled to the proximal mounting section, and a linkage system operably interconnecting the proximal actuators and the instrument guide assembly. The method further comprises providing first control signals to one of the proximal actuators to cause the linkage system to move the instrument guide assembly in a first rotational degree of freedom, providing second control signals to the other proximal actuator to cause the linkage system to move the instrument guide assembly in a second rotational degree of freedom, and providing third control signals to the proximal actuators to cause the linkage system to move the instrument guide assembly in a third rotational degree of freedom.

Abstract: Disclosed herein are systems and methods for adapting and/or updating radiotherapy treatment plans based on biological and/or physiological data and/or anatomical data extracted or calculated from imaging data acquired in real-time (e.g., during a treatment session). Functional imaging data acquired at the time of radiation treatment is used to modify a treatment plan and/or dose delivery instructions to provide a prescribed dose distribution to patient target regions. Also disclosed herein are methods for evaluating treatment plans based on imaging data acquired in real-time.

Abstract: A method comprises receiving a surgical instrument into engagement with a grip actuator of a teleoperational activation system. The surgical instrument includes movable jaws, and the surgical instrument is received in a prearranged gripping configuration with the jaws gripping a surgical accessory. The method includes generating a first control signal for manipulating the surgical instrument while maintaining the surgical instrument in the prearranged gripping configuration. The method further includes generating a second control signal for manipulating the surgical instrument to move from the prearranged gripping configuration to a second configuration.

Abstract: A robotic surgical system comprises an instrument chassis having a proximal mounting section and a distal mounting section. The system also comprises an instrument guide movably coupled to the distal mounting section and an actuator coupled to the proximal mounting section. A linkage system operably interconnects the actuator and the instrument guide to transmit motion from the actuator to the instrument guide.

Abstract: A robotic surgical system comprises an instrument chassis having a proximal mounting section and a distal mounting section. The system also comprises an instrument guide movably coupled to the distal mounting section and an actuator coupled to the proximal mounting section. A linkage system operably interconnects the actuator and the instrument guide to transmit motion from the actuator to the instrument guide.

Abstract: A robotic surgical system comprises an instrument chassis having a proximal mounting section and a distal mounting section. The system also comprises an instrument guide movably coupled to the distal mounting section and an actuator coupled to the proximal mounting section. A linkage system operably interconnects the actuator and the instrument guide to transmit motion from the actuator to the instrument guide.

Abstract: A method comprises receiving a surgical instrument into engagement with a grip actuator of a teleoperational activation system. The surgical instrument includes movable jaws, and the surgical instrument is received in a prearranged gripping configuration with the jaws gripping a surgical accessory. The method includes generating a first control signal for manipulating the surgical instrument while maintaining the surgical instrument in the prearranged gripping configuration. The method further includes generating a second control signal for manipulating the surgical instrument to move from the prearranged gripping configuration to a second configuration.