Vision-based control of a soft robot for maskless head and neck cancer radiotherapy

Olalekan P. Ogunmolu; Xuejun Gu; Steve Jiang; Nicholas R. Gans

doi:10.1109/COASE.2016.7743378

Vision-based control of a soft robot for maskless head and neck cancer radiotherapy

Olalekan P. Ogunmolu, Xuejun Gu, Steve Jiang, Nicholas R. Gans

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Scopus citations

Abstract

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 employ two RGB-D sensors in a sensor fusion scheme to better estimate a patient's head pitch motion. A system identification prediction error model is used to obtain a linear time invariant state space model. 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. Experiments demonstrate the success of our approach.

Original language	English (US)
Title of host publication	2016 IEEE International Conference on Automation Science and Engineering, CASE 2016
Publisher	IEEE Computer Society
Pages	180-187
Number of pages	8
ISBN (Electronic)	9781509024094
DOIs	https://doi.org/10.1109/COASE.2016.7743378
State	Published - Nov 14 2016
Event	2016 IEEE International Conference on Automation Science and Engineering, CASE 2016 - Fort Worth, United States Duration: Aug 21 2016 → Aug 24 2016

Publication series

Name	IEEE International Conference on Automation Science and Engineering
Volume	2016-November
ISSN (Print)	2161-8070
ISSN (Electronic)	2161-8089

Other

Other	2016 IEEE International Conference on Automation Science and Engineering, CASE 2016
Country/Territory	United States
City	Fort Worth
Period	8/21/16 → 8/24/16

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/COASE.2016.7743378

Cite this

Ogunmolu, O. P., Gu, X., Jiang, S., & Gans, N. R. (2016). Vision-based control of a soft robot for maskless head and neck cancer radiotherapy. In 2016 IEEE International Conference on Automation Science and Engineering, CASE 2016 (pp. 180-187). Article 7743378 (IEEE International Conference on Automation Science and Engineering; Vol. 2016-November). IEEE Computer Society. https://doi.org/10.1109/COASE.2016.7743378

Vision-based control of a soft robot for maskless head and neck cancer radiotherapy. / Ogunmolu, Olalekan P.; Gu, Xuejun; Jiang, Steve et al.
2016 IEEE International Conference on Automation Science and Engineering, CASE 2016. IEEE Computer Society, 2016. p. 180-187 7743378 (IEEE International Conference on Automation Science and Engineering; Vol. 2016-November).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Ogunmolu, OP, Gu, X, Jiang, S & Gans, NR 2016, Vision-based control of a soft robot for maskless head and neck cancer radiotherapy. in 2016 IEEE International Conference on Automation Science and Engineering, CASE 2016., 7743378, IEEE International Conference on Automation Science and Engineering, vol. 2016-November, IEEE Computer Society, pp. 180-187, 2016 IEEE International Conference on Automation Science and Engineering, CASE 2016, Fort Worth, United States, 8/21/16. https://doi.org/10.1109/COASE.2016.7743378

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abstract = "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 employ two RGB-D sensors in a sensor fusion scheme to better estimate a patient's head pitch motion. A system identification prediction error model is used to obtain a linear time invariant state space model. 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. Experiments demonstrate the success of our approach.",

author = "Ogunmolu, {Olalekan P.} and Xuejun Gu and Steve Jiang and Gans, {Nicholas R.}",

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AB - 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 employ two RGB-D sensors in a sensor fusion scheme to better estimate a patient's head pitch motion. A system identification prediction error model is used to obtain a linear time invariant state space model. 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. Experiments demonstrate the success of our approach.

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Vision-based control of a soft robot for maskless head and neck cancer radiotherapy

Abstract

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