TY - GEN
T1 - Soft-NeuroAdapt
T2 - 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
AU - Ogunmolu, Olalekan
AU - Kulkarni, Adwait
AU - Tadesse, Yonas
AU - Gu, Xuejun
AU - Jiang, Steve
AU - Gans, Nicholas
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/13
Y1 - 2017/12/13
N2 - Precise patient positioning is fundamental to successful removal of malignant tumors during treatment of head and neck cancers. Errors in patient positioning have been known to damage critical organs and cause complications. To better address issues of patient positioning and motion, we introduce a 3-DOF neuro-adaptive soft-robot, called Soft-NeuroAdapt to correct deviations along 3 axes. The robot consists of inflatable air bladders that adaptively control head deviations from target while ensuring patient safety and comfort. The adaptive-neuro controller combines a state feedback component, a feedforward regulator, and a neural network that ensures correct adaptation. States are measured by a 3D vision system. We validate Soft-NeuroAdapt on a 3D printed head-and-neck dummy, and demonstrate that the controller provides adaptive actuation that compensates for intrafractional deviations in patient positioning.
AB - Precise patient positioning is fundamental to successful removal of malignant tumors during treatment of head and neck cancers. Errors in patient positioning have been known to damage critical organs and cause complications. To better address issues of patient positioning and motion, we introduce a 3-DOF neuro-adaptive soft-robot, called Soft-NeuroAdapt to correct deviations along 3 axes. The robot consists of inflatable air bladders that adaptively control head deviations from target while ensuring patient safety and comfort. The adaptive-neuro controller combines a state feedback component, a feedforward regulator, and a neural network that ensures correct adaptation. States are measured by a 3D vision system. We validate Soft-NeuroAdapt on a 3D printed head-and-neck dummy, and demonstrate that the controller provides adaptive actuation that compensates for intrafractional deviations in patient positioning.
UR - http://www.scopus.com/inward/record.url?scp=85041960512&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85041960512&partnerID=8YFLogxK
U2 - 10.1109/IROS.2017.8206211
DO - 10.1109/IROS.2017.8206211
M3 - Conference contribution
AN - SCOPUS:85041960512
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3661
EP - 3668
BT - IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 24 September 2017 through 28 September 2017
ER -