Abstract
The paper presents the kinematic analysis of two medical instruments to be used in a robotic system designed for the minimally invasive treatment of non-resectable liver tumors. The instruments will be attached to a parallel robotic system having two modules, one for guiding each instrument. The first one targets the multiple needle insertion for brachytherapy procedures, while the other one is used for guiding a intra-operatory ultrasound probe used for the visual control of the trajectory of the brachytherapy needles. The paper analyses the constraint equations of the two robotic instruments and their integration into the robotic system, using an algebraic method based on the Study parameters of the special Euclidean transformation Lie group SE(3).
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Acknowledgments
The results presented in this paper have been financed by the grant of the Romanian Ministry of Research and Innovation, PCCCDI – UEFISCDI, project number PN-III-P1-1.2-PCCDI-2017-0221/59 PCCDI/2018 (IMPROVE) within PNCDI III, within the framework of the GNaC 2018 ARUT grant “Innovative robotized instruments for treatment in surgical abdominal procedures”, research Contract no. 3216/06.02.2019, with the financial support of the Technical University of Cluj-Napoca and project no. 10338/27.04.2020 “Innovative robotic system for cancer treatment – HEAL4LIV”.
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Gherman, B., Birlescu, I., Burz, A., Ulinici, I., Tucan, P., Pisla, D. (2020). Kinematic Analysis of Two Innovative Medical Instruments for the Robotic Assisted Treatment of Non-resectable Liver Tumors. In: Pisla, D., Corves, B., Vaida, C. (eds) New Trends in Mechanism and Machine Science. EuCoMeS 2020. Mechanisms and Machine Science, vol 89. Springer, Cham. https://doi.org/10.1007/978-3-030-55061-5_22
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DOI: https://doi.org/10.1007/978-3-030-55061-5_22
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