1. A method comprising: determining size and location of each voxel of a plurality of voxels in a reference frame of a radiation device that emits a beam of radiation with controlled intensity and beam cross sectional shape obtaining first measurements that relate to tissue type inside a subject at each voxel of the plurality of voxels based on a first imaging device; obtaining different second measurements that relate to utility of tissue type inside the subject at each voxel of the plurality of voxels based on a second imaging device; determining a first subset of the plurality of voxels, wherein the first subset encloses a target volume to be irradiated with a therapeutic dose of radiation by the radiation device; determining a second subset of the plurality of voxels, wherein the second subset encloses an organ-at-risk (OAR) volume; determining on a processor a value of a utility measure j at each voxel of the second subset based on the a corresponding value of the second measurements determining on a processor a series of beam shapes and intensities from the radiation device which minimize a value of an objective function that is based on a computed dose delivered to an OAR voxel multiplied by the utility measure j for that voxel summed over all voxels; and controlling the radiation device to deliver the series of beam shapes and intensities.