A Novel Design of Soft Corrugated Actuator for Creating Precise Head and Neck Positioning System

Abstract

Soft robots are increasingly gaining popularity as a preferred choice for designing medical devices due to their inherently compliant and adaptable nature. As research continues to advance in this field, soft robots are poised to revolutionize healthcare by providing safer, more patient-centric solutions. This paper presents the design of a novel soft corrugated actuator to create a system for positioning the head during head and neck cancer radiation therapy. Simulation and experimental data show that the presented actuator design can achieve linear expansion with respect to pressure in both free and under loading conditions. A machine learning model of the single actuator is created using experimental data (pressure, expansion, and weight) to predict the required pressure. The single actuator model’s validity is confirmed by using four actuators to achieve head flexion at a specific angle, illustrating its potential for implementation in a multi-actuator system. The preliminary design of the multi-actuator head and neck positioning system demonstrates its capability to achieve four degrees of freedom.