Soft-NeuroAdapt: A 3-DOF neuro-adaptive patient pose correction system for frameless and maskless cancer radiotherapy

Olalekan Ogunmolu, Adwait Kulkarni, Yonas Tadesse, Xuejun Gu, Steve Jiang, Nicholas Gans

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publicationIROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3661-3668
Number of pages8
Volume2017-September
ISBN (Electronic)9781538626825
DOIs
StatePublished - Dec 13 2017
Event2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 - Vancouver, Canada
Duration: Sep 24 2017Sep 28 2017

Other

Other2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
CountryCanada
CityVancouver
Period9/24/179/28/17

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Ogunmolu, O., Kulkarni, A., Tadesse, Y., Gu, X., Jiang, S., & Gans, N. (2017). Soft-NeuroAdapt: A 3-DOF neuro-adaptive patient pose correction system for frameless and maskless cancer radiotherapy. In IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems (Vol. 2017-September, pp. 3661-3668). [8206211] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2017.8206211