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The patological object which have to be processed by gamma knife radiosurgery

Robot motion planning and some of its applications in radiotherapy Antony T. Popov Faculty of Mathematics and Informatics, St. Kliment Ohridski University of Sofia, 5, J. Bourchier Blvd., 1164 Sofia, Bulgaria tel/fax: +359 2 8 687 180 e-mail: atpopov@fmi.uni-sofia.bg.

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The patological object which have to be processed by gamma knife radiosurgery

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  1. Robot motion planning and some of its applications inradiotherapyAntony T. PopovFaculty of Mathematics and Informatics,St. Kliment Ohridski University of Sofia,5, J. Bourchier Blvd., 1164 Sofia, Bulgariatel/fax: +359 2 8687 180e-mail: atpopov@fmi.uni-sofia.bg

  2. The patological object which have to be processed by gamma knife radiosurgery

  3. A slice mesh is generated by combining EEG and MRIand fuzzy C-means clustering (using Voronoi /Delsaunay tesselation)

  4. A path generated in a slice

  5. Linked (serial) robot manipulators move based on their joint angles qi = i Likewise, proteins move based on their torsional angles.

  6. A 3D model of a protein molecule complex

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