  We present an initial examination of a novel approach to accurately position
a patient during head and neck intensity modulated radiotherapy (IMRT).
Position-based visual-servoing of a radio-transparent soft robot is used to
control the flexion/extension cranial motion of a manikin head. A Kinect RGB-D
camera is used to measure head position and the error between the sensed and
desired position is used to control a pneumatic system which regulates pressure
within an inflatable air bladder (IAB). Results show that the system is capable
of controlling head motion to within 2mm with respect to a reference
trajectory. This establishes proof-of-concept that using multiple IABs and
actuators can improve cancer treatment.
