Review: Prediction of Respiratory Motion - Prediction and Classification of Respiratory Motion - page 10

X- Ray Source A

X- R a y
Source B

Linear
Accelerator

IR
Tracking
system

Robot

IR- Emitter
(external)

Internal
Fiducial
Markers

Fig. 2.1 CyberKnife system. X-ray source with low energy is used to detect soft tissue tumors
or implanted fiducial markers during the treatment. IR tracking system synchronized with the
tumor motion can reduce safety margins for respiratory gating or breath-hold techniques [ 46 , 53 ]

systems, some radiotherapy equipments are widely used for the management of
respiratory motion [ 26 ], such as CyberKnife robotic treatment device (Accuray,
Inc., Sunnyvale, CA) [ 53 , 54 ], Real-time position management system (RPM
system, Varian Medical, Palo Alto, CA) [ 63 , 64 ], Real-time tumor-tracking system
(RTRT, Hokkaido University) [ 65 - 67 ], Elekta system (Elekta Ltd, Stockholm,
Sweden) [ 10 , 48 , 68 , 69 ], and Siemens Radiation Oncology system (Siemens AG,
Munich, Germany) [ 70 , 71 ]. Therefore, we describe five main radiotherapy

equipments as shown in Table 2.1 .

2.2.2 Multileaf Collimator

Multileaf collimator (MLC) is a sophisticated system for radiation therapy dose
delivery, made up of separate leaves that can move independently in and out of a
particle

beam path to form a desired field shape as shown in Fig. 2.2 .

Table 2.1 Instrumentations for radiation therapy
Radiotherapy systems Development

CyberKnife robotic treatment [ 53 ] Accuray, Inc., Sunnyvale, CA

Varian real-time position management system
[ 63 , 64 ]

RPM system, Varian Medical, Palo Alto, CA

Real-time tumor-tracking system [ 65 , 66 ] RTRT system, Mitsubishi Electronics Co., Ltd.,

Tokyo

Elekta system [ 10 , 48 , 68 , 69 ] Elekta Ltd, Stockholm, Sweden

Siemens radiation oncology system [ 70 , 71 ] Siemens AG, Munich, Germany