Design and Kinematics Analysis of a Novel MR-Compatible Robot for Needle Insertion
The MR-compatible robot for needle insertion has attracted increasingly attentions due to high precision in minimally invasive surgery. A robotic system for prostate brachytherapy has been designed and is actuated by five ultrasonic motors to realize needle orientation and insertion. The application of cable transmission leads to a compact and dexterous mechanism, because all the motors are placed in the base and the moving part of the mechanism becomes as light and small as possible. Whats more, placing the motors far away from the center of the scanner will eliminate artifacts and distortion of the MR images caused by the motors. The displacement analysis is carried out and the reachable workspace is obtained. Jacobian matrix is deduced in velocity mapping model for dimensional synthesis in further study. Configuration singularities are analyzed on the basis of Jacobian matrix.
Cable transmission Ultrasonic motor Kinematics MRI
Chaochao Cheng Shan Jiang Jun Liu Jinlong Lou
School of Mechanical Engineering, Center for Advanced Mechanisms and Robotics,Tianjin University, 30 Department of Magnetic Resonance, Tianjin Union Medicine Centre,300121 Tianjin, China
国际会议
天津
英文
443-453
2012-07-08（万方平台首次上网日期，不代表论文的发表时间）