On Workspace and Accuracy Evaluation of a Parallel Robot for Needle Placement Procedures
نویسندگان
چکیده
Needle placement is an important procedure in many medical fields, especially in diagnosis (for the achievement of biopsies) or cancer treatment procedures (like brachytherapy). The paper presents an extensive study of the workspace for an innovative parallel robot designed for needle placement procedures. The singularities of the parallel robot are exhaustively analysed and the possibilities of avoiding them are described. A study regarding the positioning and orientation accuracy and the influence of each active joint upon the end-effector (needle) is achieved.
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