US Patent 7103144 Radiosurgery X-ray system with collision avoidance subsystem

A method for preventing an emission head or arm assembly from entering an exclusion zone. The method may include calculating a variable dimension exclusion zone of a radiosurgery system, and preventing at least one of the emission head or arm assembly from entering the variable dimension exclusion zone. The method may also include establishing a exclusion zone of a radiosurgery system, the radiosurgery system comprising an x-ray source having an emission head, moving the emission head during treatment of a patient, wherein the exclusion zone travels with the emission head, and detecting a presence and location of an object in the traveling exclusion zone.