bio - pro -2:一种创新的经会阴前列腺活检平行机器人结构

2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR) Pub Date : 2016-05-19 DOI:10.1109/AQTR.2016.7501308

D. Pisla, D. Ani, C. Vaida, B. Gherman, P. Tucan, N. Plitea

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引用次数: 1

摘要

本文介绍了经会阴前列腺活检并联机器人bio - pro -2的运动学设计与仿真。平行结构因其定位精度和刚度而广受好评，使其成为经会阴前列腺活检的可行选择。机器人系统是根据特定的方案设计的，包括治疗和安全问题。首先进行了bio - pro -2的运动学设计，然后进行了几何和运动学建模，并给出了一些预定插入点的工作空间。最后给出了机器人与医疗任务相结合的仿真结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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BIO-PROS-2: An innovative parallel robotic structure for transperineal prostate biopsy

This paper presents the kinematic design and simulation of a parallel robot for transperineal prostate biopsy entitled BIO-PROS-2. Parallel structures have been widely appreciated for their positioning precision and stiffness, making them a viable option for transperineal prostate biopsy. The robotic system is designed according to a specific protocol covering both therapeutic and safety issues. BIO-PROS-2 kinematic design is presented, followed by the geometric and kinematic modeling and the workspace for some predefined insertion points. The simulation results with the robot integrated with the medical task are also presented.

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2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)

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