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

TL;DR

This paper introduces a soft robot mechanism with specific constitutive laws designed for real-time head stabilization during cancer radiation therapy, aiming to improve treatment accuracy.

Contribution

It develops a novel parallel robot mechanism with derived constitutive laws and inverse kinematics for precise, real-time head motion correction in radiation therapy.

Findings

Simulation results validate the mathematical model.

Deformations align with radially symmetric displacement under elastic deformation.

Mechanism achieves controlled head stabilization.

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.