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A Real-Time Soft Robotic Patient Positioning System for Maskless Head-and-Neck Cancer Radiotherapy: An Initial Investigation
- Publication Year :
- 2015
-
Abstract
- We present an initial examination of a novel approach to accurately position a patient during head and neck intensity modulated radiotherapy (IMRT). Position-based visual-servoing of a radio-transparent soft robot is used to control the flexion/extension cranial motion of a manikin head. A Kinect RGB-D camera is used to measure head position and the error between the sensed and desired position is used to control a pneumatic system which regulates pressure within an inflatable air bladder (IAB). Results show that the system is capable of controlling head motion to within 2mm with respect to a reference trajectory. This establishes proof-of-concept that using multiple IABs and actuators can improve cancer treatment.<br />Comment: IEEE Conference on Automation Science and Engineering, Gothenburg, Sweden. 2015. Life Sciences and Health Care; Mechatronics; Emerging Topics in Automation
- Subjects :
- Computer Science - Robotics
Subjects
Details
- Database :
- arXiv
- Publication Type :
- Report
- Accession number :
- edsarx.1506.04787
- Document Type :
- Working Paper
- Full Text :
- https://doi.org/10.1118/1.4924100