Design of a haptic interface for simulation of needle intervention

Needle intervention is minimally invasive image guided procedures that diagnose and treat diseases using a needle. This paper proposes design of a haptic interface for a training simulation of the needle intervention. The design focus is on the 2 degrees of freedom parallel rotation mechanism which should have low inertia and meet geometric constraints to realize the actual procedures. The proposed design has 2 degrees of freedom with 6 passive joints. So each passive joint is a function of 2 active joints which are driven by motors. This relations between active and passive joints are calculated by kinematic analysis of the mechanism.