论文信息 - Kinematic Analysis for a Prostate Biopsy Parallel Robot Using Study Parameters

Kinematic Analysis for a Prostate Biopsy Parallel Robot Using Study Parameters

The paper presents the forward kinematics computation for a parallel robotic system designed for prostate biopsy using Study parameters. The manipulator is analyzed on its smaller kinematic chains to facilitate the computation, in a way that no information is lost from the robotic system functionality. Kinematic solutions examples are presented based on numerical values given for the robot geometric parameters and active joint position.

[1] M. Husty,et al. The 3-RPS parallel manipulator from an algebraic viewpoint , 2014 .

[2] Manfred Husty,et al. Algebraic Geometry and Kinematics , 2009 .

[3] Manfred L. Husty,et al. Algebraic methods in mechanism analysis and synthesis , 2007, Robotica.

[4] Nathan Lawrentschuk,et al. Transperineal biopsy of the prostate—is this the future? , 2013, Nature Reviews Urology.

[5] Gabor Fichtinger,et al. AAPM and GEC-ESTRO guidelines for image-guided robotic brachytherapy: report of Task Group 192. , 2014, Medical physics.

[6] Iosif Birlescu,et al. Design of a Needle Insertion Module for Robotic Assisted Transperineal Prostate Biopsy , 2016 .

[7] Doina Pisla,et al. An Innovative Parallel Robotic System for Transperineal Prostate Biopsy , 2017 .

[8] Manfred Husty,et al. Kinematic Analysis of an Innovative Medical Parallel Robot Using Study Parameters , 2016 .

[9] Alexandru Patriciu,et al. “MRI Stealth” robot for prostate interventions , 2007, Minimally invasive therapy & allied technologies : MITAT : official journal of the Society for Minimally Invasive Therapy.