DICOM PS3.3 2021b - Information Object Definitions

C.36.19 Robotic-Arm Path Module (Current)
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### C.36.19 Robotic-Arm Path Module

The Robotic-Arm Path Module specifies or records how a Robotic Path treatment is to be delivered. Multiple paths are encoded as separate RT Radiation Instances referred to in the RT Radiation Set IOD.

Table C.36.19-1. Robotic-Arm Path Module Attributes

Attribute Name | Tag | Type | Description
--- | --- | --- | ---
Robotic Path Node Set Code Sequence | (3010,0091) | 1C | Node Set from which the Robotic Nodes referenced in the Robotic Path Control Point Sequence (3010,0097) were selected. Only a single Item shall be included in this Sequence. Required if RT Record Flag (300A,0639) is NO. May be present otherwise.
>Include Table 8.8-1 “Code Sequence Macro Attributes”. | DCID 9556 “Radiotherapy Robotic Node Sets”.
Number of RT Control Points | (300A,0604) | 1 | Number of RT Control Points in the Robotic Path Control Point Sequence (3010,0097). The value shall be greater than or equal to 2.
Robotic Path Control Point Sequence | (3010,0097) | 1 | Control Points for the radiation delivery. The number of Items included in this Sequence shall equal the value of Number of RT Control Points (300A,0604).
>Include Table C.36.2.2.6-1 “External Beam Control Point General Macro Attributes”. | DCID 9560 “Robotic Delivery Device Dose Rate Units”.
>Referenced Radiation Generation Mode Index | (300A,0605) | 1C | The value of Radiation Generation Mode Index (300A,0601) in the Radiation Generation Mode Sequence (300A,067B) in this IOD that defines the Radiation Generation Mode used for this Control Point. Required if Number of Radiation Generation Modes (300A,0685) is present and the conditions in Section C.36.2.2.5.1.1 are satisfied.
>Robotic Node Identifier | (3010,0092) | 1C | Identifier of the individual Robotic Node (point in space) along the Robotic Path. See Note 1. Required if the conditions in Section C.36.2.2.5.1.1 are satisfied.
>RT Treatment Source Coordinates | (3010,0093) | 1C | Coordinates (x,y,z) in mm of the Radiation Source Coordinate System origin in the Equipment Coordinate System. Required if RT Record Flag (300A,0639) is NO and the conditions in Section C.36.2.2.5.1.1 are satisfied. May be present if RT Record Flag (300A,0639) is YES and the conditions in Section C.36.2.2.5.1.1 are satisfied. See Section C.36.12.2.2.
>Radiation Source Coordinate System Yaw Angle | (3010,0094) | 1C | Rotation angle in degrees of the Radiation Source Coordinate System about the z-axis of the Equipment Coordinate System, see Section C.36.12.2.2. Required if RT Record Flag (300A,0639) is NO and the conditions in Section C.36.2.2.5.1.1 are satisfied. May be present if RT Record Flag (300A,0639) is YES and the conditions in Section C.36.2.2.5.1.1 are satisfied.
>Radiation Source Coordinate System Roll Angle | (3010,0095) | 1C | Rotation angle in degrees of the Radiation Source Coordinate System about its y-axis after the Radiation Source Coordinate System Yaw Angle (3010,0094) is applied. Required if RT Record Flag (300A,0639) is NO and the conditions in Section C.36.2.2.5.1.1 are satisfied. May be present if RT Record Flag (300A,0639) is YES and the conditions in Section C.36.2.2.5.1.1 are satisfied.
>Radiation Source Coordinate System Pitch Angle | (3010,0096) | 1C | Rotation angle in degrees of the Radiation Source Coordinate System about its x-axis after the Radiation Source Coordinate System Roll Angle (3010,0095) is applied. Required if RT Record Flag (300A,0639) is NO and the conditions in Section C.36.2.2.5.1.1 are satisfied. May be present if RT Record Flag (300A,0639) is YES and the conditions in Section C.36.2.2.5.1.1 are satisfied.
>Include Table C.36.2.2.9-1 “RT Beam Limiting Device Opening Macro Attributes”.

### Note

1. The values of Robotic Node Identifier (3010,0092) within the Robotic Path Control Point Sequence (3010,0097) may identify Robotic Node positions that are pre-defined in the device configuration. This Attribute is distinct from the RT Control Point Index (300A,0600) , which simply indexes items within the Robotic Path Control Point Sequence (3010,0097).

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DICOM PS3.3 2021b - Information Object Definitions