Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 8, issue 1
Articles | Volume 8, issue 1
https://doi.org/10.5194/ms-8-195-2017
© Author(s) 2017. This work is distributed under
the Creative Commons Attribution 3.0 License.
https://doi.org/10.5194/ms-8-195-2017
© Author(s) 2017. This work is distributed under
the Creative Commons Attribution 3.0 License.
Articles | Volume 8, issue 1
Research article
 | 
28 Jun 2017
Research article |  | 28 Jun 2017

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

Doina Pisla, Paul Tucan, Bogdan Gherman, Nicolae Crisan, Iulia Andras, Calin Vaida, and Nicolae Plitea

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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.
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