Fuente: Wipo "Sensorization" Disclosed herein are methods for radiotherapy treatment planning and delivery that use sensor data from one or more target sensors. One variation of a radiotherapy treatment planning method comprises generating a sensor characterization image based on a sensor characterization probability density function (PDF) of a target sensor and calculating a set of firing filters that may be applied to sensor images generated from sensor data acquired during a radiation-delivery session. Additionally, a variation of a radiotherapy treatment planning method comprises generating multiple sensor characterization images based on multiple sensor characterization PDF of multiple target sensors and calculating multiple sets of firing filters for each of the multiple target sensors. The firing filters may be used with sensor images generated from target sensor data acquired from one or more target sensors during a radiation-delivery session to calculate a radiation fluence for delivering therapeutic radiation to a target region.