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arXiv · 1506.04787

A Real-Time Soft Robotic Patient Positioning System for Maskless Head-and-Neck Cancer Radiotherapy: An Initial Investigation

Olalekan Ogunmolu·Xuejun Gu·Steve Jiang·Nicholas Gans
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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.

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Olalekan Ogunmolu, Xuejun Gu, Steve Jiang, Nicholas Gans. 2015-06-15. A Real-Time Soft Robotic Patient Positioning System for Maskless Head-and-Neck Cancer Radiotherapy: An Initial Investigation. https://doi.org/10.1118/1.4924100

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