A planar compliant parallel robotic mechanism for robotic needle intervention

Author

Youngjin Moon ; Jaesoon Choi

Author_Institution

Coll. of Med., Med. Eng. R&D Center & Asan Med. Center, Univ. of Ulsan, Seoul, South Korea

fYear

2013

fDate

20-23 Oct. 2013

Firstpage

92

Lastpage

95

Abstract

This paper presents a basic concept of a robot mechanism for a robot used in needle intervention procedure. The robot mechanism is devised to give variable remote center of motion to the intervention robot. This function is expected to be a good solution for two cases: correction of the needle axis and compensation of needle position due to patients´ motion. The mechanism is designed with some requirements such as mobility and workspace. A kinematic analysis determines parameters of the mechanism so that the mechanism´s workspace includes at least a required working area. A three dimensional model is created from the resultant design.

Keywords

medical robotics; motion control; patient treatment; robot kinematics; telecontrol; kinematic analysis; motion control; patients motion; planar compliant parallel robotic mechanism; robotic needle intervention; variable remote center; Biomedical imaging; Robots; Surgery; Intervention procedure; Interventional Robot; Needle Placement; Parallel Robot; Remote Center of Motion;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems (ICCAS), 2013 13th International Conference on

Conference_Location

Gwangju

ISSN

2093-7121

Print_ISBN

978-89-93215-05-2

Type

conf

DOI

10.1109/ICCAS.2013.6703869

Filename

6703869