2016/10/05 by Olalekan Ogunmolu, Xuejun Gu, Ogunmolu, Olalekan P. +5
Medicine · Engineering · #Spinal Hematomas and Complications #Teleoperation and Haptic Systems
paper · pdf · doi:10.48550/arxiv.1610.01481
This work presents an on-going investigation of the control of a pneumatic\nsoft-robot actuator addressing accurate patient positioning systems in maskless\nhead and neck cancer radiotherapy. We employ two RGB-D sensors in a sensor\nfusion scheme to better estimate a patient's head pitch motion. A system\nidentification prediction error model is used to obtain a linear time invariant\nstate space model. We then use the model to design a linear quadratic Gaussian\nfeedback controller to manipulate the patient head position based on sensed\nhead pitch motion. Experiments demonstrate the success of our approach.\n