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Collision detection in radiotherapy: A comprehensive software approach using depth camera and separating axis

Cheng-Yen Lee¹, Hsiao-Ju Fu¹, Syu Fu Chuen²

¹Department of Mechanical Engineering, National Chung Cheng University, Chiayi 621, Taiwan; Advanced Institute of Manufacturing with High-tech Innovations, National Chung Cheng University, Chiayi 621, Taiwan; Department of Radiation Oncology, Ditmanson Medical Foundation Chia-Yi Christian Hospital, Chiayi 600, Taiwan.

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Summary

This summary is machine-generated.

This study introduces patient-specific collision detection software for radiotherapy, improving safety and efficiency with advanced algorithms. The system effectively reduces computational complexity, enhancing the reliability of radiation delivery.

Keywords:

Axis-aligned bounding box Collision detection Depth camera Radiotherapy Separating axis theorem

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Area of Science:

Medical Physics
Radiotherapy Technology
Computational Geometry

Background:

Patient and equipment safety are paramount in radiotherapy.
Current collision detection methods for linear accelerators (LINACs) have limitations in efficiency and versatility.
Accurate collision detection is crucial for personalized medicine and treatment planning.

Purpose of the Study:

To develop and present a patient-specific collision detection software for radiotherapy.
To support a variety of LINACs with complex motion trajectories.
To enhance safety and operational efficiency in clinical radiotherapy settings.

Main Methods:

Utilized depth cameras for point cloud acquisition and hand-eye calibration for model localization.
Integrated the separating axis theorem (SAT) with collision bodies for simplified detection.
Optimized simulation efficiency using axis-aligned bounding box (AABB), bounding volume hierarchy (BVH), and collision pair analysis.

Main Results:

Demonstrated robust performance in simulating and detecting collisions during radiotherapy.
Achieved over 95% and 99% reduction in computational complexity for the radiation delivery and imaging system (RDIS) and patient positioning system (PPS), respectively, using BVs and BVH.
Significantly enhanced the overall efficiency of collision detection.

Conclusions:

The developed software provides a reliable tool for enhancing safety and operational efficiency in clinical radiotherapy.
Offers interactive education and training for healthcare professionals, addressing practical and learning gaps.
Advances the field of radiotherapy by improving safety protocols and treatment planning accuracy.