Abstract
The paper investigates the kinematic analysis of an innovative 5-DOF parallel medical robot used for brachytherapy. Robotic assisted brachytherapy involves the targeted treatment of cancerous cells delivering high dosages of radiation inside the tumor, using as guiding tool a highly accurate robotic arm. The kinematic modeling of this mechanism is addressed using algebraic constraint varieties and the Study parametrization of the Euclidean displacement group. Algebraic methods in connection with classical multi-dimensional geometry have proven to be very efficient in the computation of direct and inverse kinematics of mechanisms as well as the explanation of strange, pathological behavior. The obtained results are simulated and compared with the results obtained by the evaluation of the determinants of the A and B Jacobi matrices. This complete kinematic analysis of the robot will largely increase its safety during the medical procedure.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Bassan, et al.: A novel manipulator for 3D ultrasound guided percutaneous needle insertion. In: IEEE International Conference on Robotics and Automation, pp. 617–622 (2007)
Fischer, G.S., et al.: Design of a robot for transperineal prostate needle placement in MRI scanner. In: IEEE International Conference on Mechatronics, pp. 592–597 (2006)
Husty, M.L., Pfurner, M., Schröcker, H.-P., Brunnthaler, K.: Algebraic methods in mechanism analysis and synthesis. Robotica 25(6), 661–675 (2007)
Pisla, D., et al.: Innovative Approaches Regarding Robots for Brachytherapy. New Trends in Medical and Service Robots. MMS, vol. 20, pp. 63–78 (2014)
Pisla, D., Cocorean, D., Vaida, C., Gherman, B., Pisla, A., Plitea, N: Application oriented design and simulation of an innovative parallel robot for brachytherapy. In: Proceedings of the ASME 2014 International Conference—IDETC/CIE 2014, Buffalo, New York, USA (2014)
Plitea, N., et al.: On the kinematics of a new parallel robot for brachytherapy. Proc. Rom. Acad. Ser. A 15(4), 354–361 (2014)
Plitea, N., et al.: Parallel robot for brachytherapy with two linkages for guiding a platform of CYL-U type, Patent pending: RO129698-A2 (2014)
Podder, T., et al.: AAPM and GEC-ESTRO guidelines for image-guided robotic brachytherapy: Report of Task Group 192. Med. Phys. 41(10), 1–27 (2014)
Podder, T., Buzurovic, I., Huang, K., Yu, Y.: MIRAB: an image-guided multichannel robot for prostate brachytherapy, Bodine J. 3(1) (2010)
Strassman, G., et al.: Advantage of robotic needle placement on a prostate model in HDR brachytherapy. Strahlenther Onkol. 187(6), 367–272 (2011)
Study, E.: Geometrie der Dynamen. Teubner (1903)
Venselaar, J., Meigooni, A.S., Baltas, D., Hoskin, P.J. (eds): Comprehensive Brachytherapy: Physical and Clinical Aspects (Imaging in Medical Diagnosis and Therapy) (2012)
Walter, D.R., Husty, M.L.: On implicitization of kinematic constraint equations. Mach. Des. Res. 26, 132–151 (2010)
Yu, Y., et al.: Robot-assisted prostate brachytherapy. Med. Image Comput. Comput. Assist. Interv. 9(1), 41–49 (2006)
Acknowledgments
This paper was supported by the Project no. 173/2012, code PN-II-PCCA-2011-3.2-0414, entitled “Robotic assisted brachytherapy, an innovative approach of inoperable cancers - CHANCE” and the Bilateral Austria—Romania Project 745/2014, entitled “Developing methods to evaluate the accuracy of potential parallel robots for medical applications” both financed by UEFISCDI.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing Switzerland
About this paper
Cite this paper
Vaida, C., Pisla, D., Schadlbauer, J., Husty, M., Plitea, N. (2016). Kinematic Analysis of an Innovative Medical Parallel Robot Using Study Parameters. In: Wenger, P., Chevallereau, C., Pisla, D., Bleuler, H., Rodić, A. (eds) New Trends in Medical and Service Robots. Mechanisms and Machine Science, vol 39. Springer, Cham. https://doi.org/10.1007/978-3-319-30674-2_7
Download citation
DOI: https://doi.org/10.1007/978-3-319-30674-2_7
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-30673-5
Online ISBN: 978-3-319-30674-2
eBook Packages: EngineeringEngineering (R0)