Interference Detection Method for Eye Tracking System in External Radiation Therapy

In the process of external radiation therapy, eye movements need to be detected in real time using an eye tracking system. The complex eye tracking system may interfere with the treatment radiation beam, so it is necessary to build a system model to detect possible interference and ensure that the input dose to the diseased site is as expected. Firstly, the scene needs to be modeled, and the control robotic arm and its end structure are modeled using the Denavit-Hartenberg (D-H) parameters. The interference detection is implemented using the Gilbert-Johnson-Keerthi algorithm and the detection results are displayed using the Godot engine, while the simulation scene built in Simscape using the same model is compared and verified. The results of the two simulations are compared under the condition that the robot arm is in the initial position, and the incident rays are at different angles, respectively, proving the effectiveness of the D-H parametric modeling and the interference detection algorithm.