Craniosacral therapy comes from Cranial Osteopathy. It is a way of gentle manipulation with focus on the craniosacral system (think of the head, the sacrum and their connection through the spinal cord). Also abbreviated as CST, this treatment is amazing at providing comfort and pain relief.
Here’s a video from the Upledger Institute on Craniosacral therapy. The video has some focus on therapy with dolphins but there is commentary on the quality of the work of John Upledger by therapists who worked directly with him.