Fig. 5

Spot switching time fitting in x and y direction. Spot scanning time modelling in x and y directions: x-direction data fitted by the modified Softplus function from ten clinical cases and y-direction experimental data fitted by a three-piecewise polynomial using test fields. The slope of the fit line is the reciprocal of the spot scanning speed. X-direction speed is faster than y-direction. The x-fit curve has a turning point at x = 30 mm and the baseline is 6 ms