PATH PLANNING FOR RADIATION THERAPY

Respective target positions, into which elements of a radiation therapy machine are to be moved (e.g., prior to beginning treatment of a patient), are determined. A candidate path, which describes movements of the elements from respective initial positions to the respective target positions, is defined and accessed. The candidate path is evaluated to determine whether it would result in a collision between any of the elements. The candidate path is included in a set of candidate paths when the candidate path does not result in a collision between any of the elements. A value of a measure (e.g., a measure of efficiency), used for ranking each candidate path in the set of candidate paths, is determined. A path is selected from the set of candidate paths based on the ranking.