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Vision-based Control of a Soft Robot for Maskless Head and Neck Cancer Radiotherapy [article]

Olalekan P. Ogunmolu, Xuejun Gu, Steve Jiang, Nicholas R. Gans
2016 arXiv   pre-print
This work presents an on-going investigation of the control of a pneumatic soft-robot actuator addressing accurate patient positioning systems in maskless head and neck cancer radiotherapy.  ...  We then use the model to design a linear quadratic Gaussian feedback controller to manipulate the patient head position based on sensed head pitch motion.  ...  INTRODUCTION This paper presents a continuation of our investigation of an image-guided soft robot patient positioning system for use in head and neck (H&N) cancer radiotherapy (RT).  ... 
arXiv:1610.01481v1 fatcat:chmucqo3pfc27irjdezonpqb4y

SU-E-J-12: An Image-Guided Soft Robotic Patient Positioning System for Maskless Head-And-Neck Cancer Radiotherapy: A Proof-Of-Concept Study

O Ogunmolu, N Gans, S Jiang, X Gu
2015 Medical Physics (Lancaster)  
Position-based visual-servoing of a radio-transparent soft robot is used to control the flexion/extension cranial motion of a manikin head.  ...  We present an initial examination of a novel approach to accurately position a patient during head and neck intensity modulated radiotherapy (IMRT).  ...  INTRODUCTION This paper presents a systematic initial examination of an image-guided soft robot patient positioning system for use in head and neck (H&N) cancer radiotherapy (RT).  ... 
doi:10.1118/1.4924100 fatcat:n2a6lzjbmbgllele7jkfimfkcq

Soft-NeuroAdapt: A 3-DOF Neuro-Adaptive Patient Pose Correction System For Frameless and Maskless Cancer Radiotherapy [article]

Olalekan Ogunmolu, Adwait Kulkarni, Yonas Tadesse, Xuejun Gu, Steve Jiang, Nicholas Gans
2017 arXiv   pre-print
Precise patient positioning is fundamental to successful removal of malignant tumors during treatment of head and neck cancers.  ...  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.  ...  INTRODUCTION Radiation-based treatment of head and neck (H&N) cancers often involve intensity-modulated radiotherapy (IMRT), which modulate radiation dosage and shaping of treatment beam to the precise  ... 
arXiv:1703.03821v4 fatcat:k77nr6oyprcmtkwwjbu3hlilxy