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Kinematic analysis of a 5-DOF hybrid-driven MR compatible robot for minimally invasive prostatic interventions

Published online by Cambridge University Press:  12 January 2012

Shan Jiang ,
Jie Guo ,
Shen Liu ,
Jun Liu  and
Jun Yang
Shan Jiang*
Affiliation:
School of Mechanical Engineering, Tianjin University, Tianjin, China
Jie Guo
Affiliation:
School of Mechanical Engineering, Tianjin University, Tianjin, China
Shen Liu
Affiliation:
School of Mechanical Engineering, Tianjin University, Tianjin, China
Jun Liu
Affiliation:
Department of Magnetic Resonance, Tianjin Union Medicine Centre, Tianjin, China
Jun Yang
Affiliation:
Department of Magnetic Resonance, Tianjin Union Medicine Centre, Tianjin, China
*
*Corresponding author. E-mail: [email protected]
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Summary

This paper introduces the design and kinematic analysis of a 5-DOF (multiple degree of freedom) hybrid-driven MR (Magnetic Resonance) compatible robot for prostate brachytherapy. It can slip the leash of template and rely on the high precise of MR imaging. After a brief introduction on design requirements of MR compatible robot, a description of our robot structure, material selection, hybrid-driven, and control architecture are presented. Secondly, the forward kinematics equations are obtained according to the equivalent diagram of this robot, and the actual workspace can be outlined. This will help the designer to determine whether this robot can be operated in the MR core without intervention with patient. And then, the inverse kinematics equations combined with trajectory planning are used to calculate the actuators movement. This will help the control system to manipulate the robotic accurately. Finally, vision based experiments on phantoms are used to verify the mechanism precision. As the results shown, the needle tip precision of mechanism is 0.9 mm in the general lab environment.

Keywords

Hybrid-drivenNeedle insertionForward kinematicsInverse kinematicsMR compatible robot
Type
Articles
Information
Robotica , Volume 30 , Issue 7 , December 2012 , pp. 1147 - 1156
Copyright
Copyright © Cambridge University Press 2012

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