Master-slave robotic system for 3 dimensional needle steering

This paper proposes a new 4-Degree-of-Freedom (DOF) master-slave system for 3 dimensional needle steering. Both master and slave devices are commonly composed of a 3 DOF spherical type parallel mechanism and a 1 DOF needle insertion mechanism. This system provides users with 3 dimensional needle ste...

Full description

Saved in:
Bibliographic Details
Published in2010 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 857 - 862
Main Authors Hyo-Jeong Cha, Jaeheon Chung, Whee Kuk Kim, Byung-Ju Yi
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2010
Subjects
Force
Joints
Kinematics
Master-slave
Needles
Phantoms
Robots
Online AccessGet full text

Cover

More Information
Summary:This paper proposes a new 4-Degree-of-Freedom (DOF) master-slave system for 3 dimensional needle steering. Both master and slave devices are commonly composed of a 3 DOF spherical type parallel mechanism and a 1 DOF needle insertion mechanism. This system provides users with 3 dimensional needle steering and force reflection capabilities. The real time forward solution of the master device is addressed. The design of the master-slave system is described in detail. Finally, the effectiveness of this system for 3 dimensional needle steering task is verified through experimental work.
ISBN:9781424466740
1424466741
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2010.5649658