Real-time Perception of Patient Space for Collision Avoidance in Radiation Treatmet

In this paper we present a framework for real-time perception of patient space for collision avoidance in radiation treatment. The patient space represents the volume occupied by patient's body with additional treatment devices in the treatment position. The Kinect V2 camera is used to capture patient space. This framework takes in each view point cloud and use an octree-based volumetric representation to represent and update patient space in real-time for collision avoidance. To validate the proposed framework, we present some experimental results based on ROS platform.