Radiosurgery is a non-invasive medical procedure in which focused beams of high-energy X-rays target tumors and other abnormalities in the body. A single large dose of radiation is capable of ablating a lesion that might not be amenable to surgical removal. However, some radiosurgery systems, such as the CyberKnife (CK), can be relatively time-consuming because the treatment planning requires the delivery of up to several hundred cone-shaped beams to adequately cover an irregularly shaped tumor.