The design of an intensity modulated radiotherapy treatment includes the selection of beam angles (geometry problem), the computation of an intensity map for each selected beam angle (intensity problem), and finding a sequence of configurations of a multileaf collimator to deliver the treatment (realization problem). Until the end of the last century research on radiotherapy treatment design has been published almost exclusively in the medical physics literature. However, since then, the attention of researchers in mathematical optimization has been drawn to the area and important progress has been made. In this paper we survey the use of optimization models, methods, and theories in intensity modulated radiotherapy treatment design.