On the Kinematics of an Innovative Parallel Robotic System for Transperineal Prostate Biopsy

10.6567/IFToMM.14TH.WC.OS2.042

D. Pisla；B. Gherman；P. Tucan；C. Vaida；C. Govor；N. Plitea

Kinematics ； Parallel robot ； Robotic assisted prostate biopsy ； Workspace simulation

Proceedings of the 14th IFToMM World Congress

14th-1（2015 / 10 / 23）

438 - 445

英文

The paper presents kinematic aspects of a novel parallel robotic system used for transperineal prostate biopsy. This innovative robotic system offers a new integrated solution capable of high precision biopsies of targeted locations within the prostate to provide early and accurate diagnosis leading to optimal treatment options for this disease. The kinematical behaviour of the robotic system is presented and a method for its workspace generation is described. Some simulation results regarding the robot integrated in the medical environment are finally presented.