Kinematic Behaviour of 2-Crr-Cyl-U Parallel Robot for Brachytherapy

D. Cocorean ； N. Plitea ； C. Vaida ； D. Pisla

《Proceedings of the 14th IFToMM World Congress》 14th-1 (2015/10) Pp. 238-245

https://doi.org/10.6567/IFToMM.14TH.WC.OS2.015

並列摘要

The paper presents the kinematics of a novel parallel robot for brachytherapy medical procedures. Brachytherapy is a powerful and efficient technique, which enables the physician to deliver high doses of radiation to very-specific areas of the body. The efficiency of brachytherapy is limited by the precise placement of the radioactive medium, which requires high resolution imaging techniques to be correlated to a placement mechanism or procedure. The authors propose in this paper an innovative parallel structure to overcome these limitations, for placing the radioactive seeds in almost any body-part, with the aid of Computed Tomography (CT) as the main imaging technique. The robot has five degrees of freedom (DOF) for needle positioning and orientation up to the insertion point in the patient body and a 1-DOF redundant mechanism for the needle insertion. The kinematical behaviour of the new 5-DOF parallel robot is presented and a method for workspace generation without singularities is presented. The conclusions over the advantages of this parallel structure are presented in the last section of the paper.

並列關鍵字

Kinematics ； Parallel robot ； Workspace simulation ； Robotic assisted brachytherapy