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Devices, systems and techniques are used for cancer treatment. An example control device may be configured to be communicatively coupled to a radiation source of a radiotherapy device and a position sensor of the radiotherapy device. The example control device may be used to calculate, for a sliding window of a radiotherapy treatment, a positional error between: a measured target position signal determined from a series of images and sampled at the acquisition times of the images, and an estimated target position signal. The example control device may generate a computer-executable instruction configured to alter the radiotherapy treatment in response to the positional error violating a threshold.