Patent ID: 8184773

Claim:
A therapy delivery system comprising: a plurality of movable components including a radiation therapy nozzle and a patient pod for holding a patient; a patient registration module for determining a desired position of at least one of the plurality of movable components; and a motion control module for coordinating the movement of the least one of the plurality of movable components from a current position to the desired position, wherein the motion control module comprises a path planning module configured to: use data from a library of three dimensional model data, the three dimensional model data corresponding to position envelopes defined by possible movement of the movable components; perform calculations simulating at least one projected trajectory of movement of the at least one of the plurality of moveable components from the current position to the desired position; and use the calculations simulating at least one projected trajectory of movement to assist in planning a path with non-overlapping position envelopes that will thereby avoid collisions during movement from the current position to the desired position.