TY - GEN
T1 - A real-time, soft robotic patient positioning system for maskless head-and-neck cancer radiotherapy
T2 - 11th IEEE International Conference on Automation Science and Engineering, CASE 2015
AU - Ogunmolu, Olalekan P.
AU - Gu, Xuejun
AU - Jiang, Steve
AU - Gans, Nicholas R.
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/10/7
Y1 - 2015/10/7
N2 - 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.
AB - 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.
KW - Emerging Topics in Automation
KW - Life Sciences and Health Care
KW - Mechatronics
UR - http://www.scopus.com/inward/record.url?scp=84952766916&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84952766916&partnerID=8YFLogxK
U2 - 10.1109/CoASE.2015.7294318
DO - 10.1109/CoASE.2015.7294318
M3 - Conference contribution
AN - SCOPUS:84952766916
T3 - IEEE International Conference on Automation Science and Engineering
SP - 1539
EP - 1545
BT - 2015 IEEE Conference on Automation Science and Engineering
PB - IEEE Computer Society
Y2 - 24 August 2015 through 28 August 2015
ER -