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On Applying CSP for Coordination of a Multi-robot Holonic Manufacturing Execution System Read chapter Read first chapter

2016 | OriginalPaper | Chapter

Kinematic Behaviour of a Novel Medical Parallel Robot for Needle Placement

Authors : Bogdan Gherman, Doina Pîslă, Gabriel Kacso, Nicolae Plitea

Published in: Advances in Robot Design and Intelligent Control

Publisher: Springer International Publishing

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Abstract

Needle insertion procedures cover a large area of applications, like brachytherapy (BT), biopsy or fluid extraction. The paper presents the kinematics of a novel parallel robot designed for needle placement procedures. This implies that the needle will be inserted in the patient’s body from the outside up to a target point following a linear trajectory, the needle tracking being achieved using: visual feedback, ultrasound if possible, otherwise computer tomography (CT). The structural synthesis, the robot kinematics, its workspace and some simulation results are presented in the paper.

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previous chapter Gibbs-Appell Equations of Motion for a Three Link Robot with MATLAB
next chapter Optimal Planning of Needle Insertion for Robotic-Assisted Prostate Biopsy
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Metadata
Title
Kinematic Behaviour of a Novel Medical Parallel Robot for Needle Placement
Authors
Bogdan Gherman
Doina Pîslă
Gabriel Kacso
Nicolae Plitea
Copyright Year
2016
Book
Advances in Robot Design and Intelligent Control

Print ISBN: 978-3-319-21289-0

Electronic ISBN: 978-3-319-21290-6

Copyright Year: 2016

DOI
https://doi.org/10.1007/978-3-319-21290-6_33