Figure 2From: Semi-robotic 6 degree of freedom positioning for intracranial high precision radiotherapy; first phantom and clinical resultsInfrared-Mechanical Arm unit. An infrared reference frame is connected to the mechanical arm which in turn is connected to the treatment table via a self-centering bracket. Before patient positioning, the arm and IR-frame are rotated out of the way as shown so the patient can lie down on the headrest.Back to article page