Design and modeling of a parallel robot for ultrasound guided percutaneous needle interventions

Necessity of precise positioning in percutaneous needle operations enables robotic systems to take part in medical procedures. Researches that have been done until today showed robotic systems increase the accuracy of medical interventions. This paper presents the design and modeling of a 5DOF parallel robot that will be used in Ultrasound image guided percutaneous needle interventions. In order to design the robot, workspace and torque analysis were conducted. System identification was performed on robot to understand the system dynamics. System calibration was performed with optical tracking system to increase the accuracy of the system. Gravity compensation and friction modeling were conducted on the robot. Using gravity compensation and friction models, a torque computed controller was implemented to system.