US 12,434,075 B2
Coupled robotic radiation therapy system
Jay Akio Yonemoto, Arcadia, CA (US); and Asheber Techane Wagshum, Granada Hills, CA (US)
Assigned to Celestial Oncology Inc., Santa Monica, CA (US)
Filed by CELESTIAL ONCOLOGY INC., Santa Monica, CA (US)
Filed on May 10, 2022, as Appl. No. 17/740,902.
Claims priority of provisional application 63/187,175, filed on May 11, 2021.
Prior Publication US 2022/0370833 A1, Nov. 24, 2022
Int. Cl. A61N 5/10 (2006.01); G16H 20/40 (2018.01); G16H 40/63 (2018.01)
CPC A61N 5/1083 (2013.01) [A61N 5/103 (2013.01); A61N 5/1049 (2013.01); G16H 20/40 (2018.01); G16H 40/63 (2018.01); A61N 2005/1094 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A radiation treatment system comprising:
a primary robot;
a therapy device mechanically coupled to the primary robot, wherein the primary robot is configured to move the therapy device to selectively deliver a therapy beam along a therapy longitudinal axis to a treatment area of a patient at a plurality of treatment beam orientations selected from a plurality of candidate beam orientations;
a secondary robot;
a radiation block mechanically coupled to the secondary robot, wherein the secondary robot is configured to move independent of a patient couch and independent of movements of the primary robot so that the therapy longitudinal axis of the therapy beam is incident on a central portion of the radiation block after traveling through the treatment area of the patient; and
a robot guidance system comprising one or more computer processors executing software instructions configured to instruct movements of the primary robot and the secondary robot according to a radiation therapy treatment plan, wherein the radiation therapy treatment plan includes, for individual therapy beams of the treatment plan:
a first instruction to the primary robot to move to a first position;
a second instruction to the secondary robot to move to a second position wherein the therapy longitudinal axis from the therapy device mechanically coupled to the primary robot is incident on the central portion of the radiation block mechanically coupled to the secondary robot; and
deliver the therapy beam.