The present invention is a method and system for developing a dynamic scheme for Gamma Knife radiosurgery based on the concept of “dose-painting” to take advantage of robotic patient positioning systems on the Gamma Knife C and Perfexion units. The spherical high dose volume created by the Gamma Knife unit will be viewed as a 3D spherical “paintbrush”, and treatment planning is reduced to finding the best route of this “paintbrush” to “paint” a 3D tumor volume. Under the dose-painting concept, Gamma Knife radiosurgery becomes dynamic, where the patient is moving continuously under the robotic positioning system.