Analysis of Human Head Motion and Robotic Compensation for PET Imaging Studies.

Functional medical imaging systems can provide insights into brain activity during various tasks, but most current imaging systems are bulky devices that are not compatible with many human movements. Our motivating application is to perform Positron Emission Tomography (PET) imaging of subjects during sitting, upright standing and locomotion studies on a treadmill. The proposed long-term solution is to construct a robotic system that can support an imaging system surrounding the subject's head, and then move the system to accommodate natural motion. This paper presents the first steps toward this approach, which are to analyze human head motion, determine initial design parameters for the robotic system, and verify the concept in simulation.