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Studies of the human brain during natural activities, such as locomotion,would benefit from the ability to image deep brain structures during theseactivities. While Positron Emission Tomography (PET) can image thesestructures, the bulk and weight of current scanners are not compatible with thedesire for a wearable device. This has motivated the design of a robotic systemto support a PET imaging system around the subject's head and to move thesystem to accommodate natural motion. We report here the design andexperimental evaluation of a prototype robotic system that senses motion of asubject's head, using parallel string encoders connected between therobot-supported imaging ring and a helmet worn by the subject. This measurementis used to robotically move the imaging ring (coarse motion correction) and tocompensate for residual motion during image reconstruction (fine motioncorrection). Minimization of latency and measurement error are the key designgoals, respectively, for coarse and fine motion correction. The system isevaluated using recorded human head motions during locomotion, with a mockimaging system consisting of lasers and cameras, and is shown to provide anoverall system latency of about 80 ms, which is sufficient for coarse motioncorrection and collision avoidance, as well as a measurement accuracy of about0.5 mm for fine motion correction.

Method for robotic motion compensation during PET imaging of mobile subjects