Work

Mechanism and Model of a Soft Robot for Head Stabilization in Cancer Radiation Therapy

Year: 2020

Type: conference-paper

Abstract: We present a parallel robot mechanism and the constitutive laws that govern the deformation of its constituent soft actuators. Our ultimate goal is the real-time motion-correction of a patient's head deviation from a target pose where the soft actuators control the position of the patient's cranial region on a treatment machine. We describe the mechanism, derive the stress-strain constitutive laws for the individual actuators and the inverse kinematics that prescribes a given deformation, and then present simulation results that validate our mathematical formulation. Our results demonstrate deformations consistent with our radially symmetric displacement formulation under a finite elastic deformation framework.

Source: Proceedings - IEEE International Conference on Robotics and Automation/Proceedings

DOI: 10.1109/icra40945.2020.9197007

Authors: Olalekan Ogunmolu, Xinmin Liu, Nicholas Gans, Rodney D. Wiersma

Institutions: University of Pennsylvania, University of Chicago, The University of Texas at Arlington

Language: English

Topic: Soft Robotics and Applications

Subfield: Biomedical Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

Funder: National Cancer Institute

Award: Development of a portable and compact robotic system for frameless and maskless stereotactic radiosurgery