Abstract
Needle insertion procedures cover a large area of applications, like brachytherapy (BT), biopsy or fluid extraction. The paper presents the kinematics of a novel parallel robot designed for needle placement procedures. This implies that the needle will be inserted in the patient’s body from the outside up to a target point following a linear trajectory, the needle tracking being achieved using: visual feedback, ultrasound if possible, otherwise computer tomography (CT). The structural synthesis, the robot kinematics, its workspace and some simulation results are presented in the paper.
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Acknowledgement
This research was carried out in several projects: (a) the Partnership Program PN-II with financial support from MEN-UEFISCDI, Project no. 247/2014; (b) the project financed from the European Social Fond through the POSDRU program DMI 1.5, ID 137516-PARTING; (c) the Project no. 173/2012, code PN-II-PCCA-2011-3.2-0414, entitled “Robotic assisted brachytherapy, an innovative approach of inoperable cancers—CHANCE” financed by UEFISCDI; and (d) the bilateral Austria—Romania project 745/2014 financed by UEFISCDI.
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Gherman, B., Pîslă, D., Kacso, G., Plitea, N. (2016). Kinematic Behaviour of a Novel Medical Parallel Robot for Needle Placement. In: Borangiu, T. (eds) Advances in Robot Design and Intelligent Control. Advances in Intelligent Systems and Computing, vol 371. Springer, Cham. https://doi.org/10.1007/978-3-319-21290-6_33
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DOI: https://doi.org/10.1007/978-3-319-21290-6_33
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