Articles | Volume 8, issue 1
Mech. Sci., 8, 195–213, 2017
Mech. Sci., 8, 195–213, 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.

Related subject area

Subject: Mechanisms and Robotics | Techniques and Approaches: Mathematical Modeling and Analysis
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Cited articles

ACS: The American Cancer Society's website, available at: cancerfactsstatistics/cancerfactsfigures, last access: January 2016.
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Berceanu, C. and Tarnita, D.: Aspects Regarding the Fabrication Process of a New Fully Sensorized Artificial Hand, MODTECH 2010: New face of TMCR, Proceedings of the International Conference ModTech, 123–126, 2010.
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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.