Articles | Volume 8, issue 1
Mech. Sci., 8, 195–213, 2017
https://doi.org/10.5194/ms-8-195-2017
Mech. Sci., 8, 195–213, 2017
https://doi.org/10.5194/ms-8-195-2017
Research article
28 Jun 2017
Research article | 28 Jun 2017

Development of a parallel robotic system for transperineal biopsy of the prostate

Doina Pisla et al.

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Short summary
The paper presents a parallel robot designed to manipulate the equipment of a prostate biopsy procedure (an ultrasound probe and biopsy needle). Inverse and forward kinematic models are presented along with the workspace and singularities of the robot. Using the experimental model, tests were performed and an accuracy of 1–2 mm was achieved. A fusion system between an MRI and an ultrasound image (from an endorectal probe) was developed to reduce the number of sampling points to a minimum.