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arXiv · 2203.05708

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

Olalekan Ogunmolu·Xinmin Liu·Nicholas Gans·Rodney D. Wiersma
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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.

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Olalekan Ogunmolu, Xinmin Liu, Nicholas Gans, Rodney D. Wiersma. 2022-03-11. Mechanism and Model of a Soft Robot for Head Stabilization in Cancer Radiation Therapy. https://doi.org/10.1109/icra40945.2020.9197007

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