Modeling, Analysis and Evaluation of a Novel Compact 6-DoF 3-RRRS Needle Biopsy Robot

• Published in: Mathematics (Basel) Vol. 12; no. 10; p. 1461
• Main Authors: Wang, Jiangnan, Xiang, Ruiqi, Xiang, Jindong, Wang, Baichuan, Wu, Xiyun, Cai, Mingzhen, Pan, Zhijie, Li, Mengtang, Li, Xun
• Format: Journal Article
• Language: English
• Published: Basel MDPI AG 01.05.2024
• Subjects: Ablation; Biopsy; Comparative analysis; Control algorithms; Custom design; Degrees of freedom; Exact solutions; experiment validation; Feedback control; Inverse kinematics; Jacobian analysis; kinematic modeling; Kinematics; Magnetic resonance imaging; Medical imaging; Medical research; Multibody systems; needle biopsy robot; Prostate; Robotic surgery; Robotics; Robots; Simulation; Speed control; Ultrasonic imaging; China; New Jersey

Robot-assisted surgical systems have been widely applied for minimally invasive needle biopsies thanks to their excellent accuracy and superior stability compared to manual surgical operations, which lead to possible fatigue and misoperation due to long procedures. Current needle biopsy robots are n...