Analysis of a novel high-precision 5-degrees of freedom magnetic resonance imaging-compatible surgery robot for needle-insertion prostate brachytherapy

Jiang, Shan, Sun, Fude, Feng, Wenhao, Hofman, Larissa Fedunik and Yu, Yan (2014) Analysis of a novel high-precision 5-degrees of freedom magnetic resonance imaging-compatible surgery robot for needle-insertion prostate brachytherapy. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 228 5: 865-876. doi:10.1177/0954406213492066


Author Jiang, Shan
Sun, Fude
Feng, Wenhao
Hofman, Larissa Fedunik
Yu, Yan
Title Analysis of a novel high-precision 5-degrees of freedom magnetic resonance imaging-compatible surgery robot for needle-insertion prostate brachytherapy
Journal name Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science   Check publisher's open access policy
ISSN 2041-2983
2327-9788
Publication date 2014-04-01
Year available 2014
Sub-type Article (original research)
DOI 10.1177/0954406213492066
Volume 228
Issue 5
Start page 865
End page 876
Total pages 12
Place of publication Alexandria VA, United States
Publisher American Society for Horticultural Science
Language eng
Abstract In this paper, we focus on the design requirement of a high-precision magnetic resonance imaging-compatible robot for prostate needle-insertion surgery, which is actuated by five ultrasonic motors to achieve the goal of needle posture adjustment and prostate puncture. After a brief introduction to the robot, the direct and inverse kinematic equations are deduced. In order to show the relationship of the velocity between the actuators and the end effector, the Jacobian matrix is derived by formulating a velocity closed-loop equation for each limb. The kinematics is carried out by minimizing a global and comprehensive dimensional synthesis conditioning index subject to transmission angle and range of motion of the mechanism constraints. The dimensional parameters are obtained for achieving a good kinematic performance throughout the entire task workspace by an example, and finally the reachable workspace of the robot is calculated.
Keyword Magnetic resonance imaging-compatible robot
Kinematic analysis
Jacobian analysis
Dimension synthesis
Q-Index Code C1
Q-Index Status Confirmed Code
Institutional Status UQ

Document type: Journal Article
Sub-type: Article (original research)
Collections: School of Mechanical & Mining Engineering Publications
Official 2015 Collection
 
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