Patent ID: 7746978

Claim:
A therapy delivery system, the system comprising: a patient positioning structure configured to position a patient in multiple translational and multiple rotational axes and secure at least a portion of the patient substantially immobile at a desired treatment pose; a therapy delivery assembly configured to deliver therapy along a delivery path, wherein at least one of the patient positioning structure and the therapy delivery assembly are movable to align the desired treatment pose of a therapy delivery target of the patient with the therapy delivery path and wherein a movement envelope of at least one of the patient positioning structure and the therapy delivery assembly intersects one or more other structures of the therapy delivery system; a plurality of external measurement devices which obtain location measurements of at least the patient positioning structure and the therapy delivery assembly; a motion sequence coordinator adapted to control the movement of at least one of the positioning structure and the therapy delivery assembly in response to a first movement command for at least one of the patient positioning structure and the therapy delivery assembly to position the patient in the desired pose; and a controller which receives the location measurements of at least the patient positioning structure and the therapy delivery assembly from the plurality of external measurement devices and determines the first movement command and determines whether a collision is indicated for the first movement command and, if no collision is indicated, initiates a corresponding first movement by forwarding the first movement command to the motion sequence coordinator.