Paper Title:
Structure Design and Kinematics Analysis of MRI-Guided Intervention Robot
  Abstract

MRI-compatible surgical robot technology is one of the most effective ways to improve the real-time image-guided surgical biopsy. In MRI environment, the robot design is facing the problems of high magnetic field and limited workspace. A pneumatic-driven MRI-guided intervention robot was designed for chest and abdomen surgical biopsy. Based on compatibility and workspace analysis, the specific structure design of the robot was carried out. Then robot coordinate system was established using D-H method and the kinematics analysis was conducted.

  Info
Periodical
Chapter
Chapter 4: Mechatronics and Information
Edited by
Dongye Sun, Wen-Pei Sung and Ran Chen
Pages
2253-2257
DOI
10.4028/www.scientific.net/AMM.121-126.2253
Citation
Y. D. Zhang, H. Y. Du, L. W. Geng, Y. Q. Li, H. X. Zhang, Y. H. Zhang, "Structure Design and Kinematics Analysis of MRI-Guided Intervention Robot", Applied Mechanics and Materials, Vols. 121-126, pp. 2253-2257, 2012
Online since
October 2011
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$32.00
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