Abstract: The tumor localization interference caused by human respiratory movement cannot be ignored during stereotactic radiotherapy robot treat lung tumor.In order to compensate for respiratory movement and improve the precision of radiotherapy,the main method is real-time tracking through establish the correlation model between internal tumor and external surrogates,and use the model predict the position of the tumor from the movements of the surrogates,thus regulates mechanical arm for precise radiotherapy.For respiratory motion tracking model with lung tumor,designed a three dimensional respiratory motion simulator,this simulator can be stable simulate the nonlinear and lagging relationship between the tumor motion part and the surrogate motion part,which provides data source and verification platform for tumor respiratory motion tracking model in stereotactic radiotherapy.

Key words: stereotactic radiosurgery robot, real-time tracking, respiratory motion simulator