Figure 5From: Semi-robotic 6 degree of freedom positioning for intracranial high precision radiotherapy; first phantom and clinical resultsManual prepositioning. A subjects head is rotated around all 3 room axes to < ± 2°. Note how the head is manipulated with one hand, the mechanical arm with the other hand. The required infrared-based translations and rotations are read off the treatment room iGuide screen, visible in the background.Back to article page