A compliant parallel mechanism for needle intervention

Author

Youngjin Moon ; Jaesoon Choi

Author_Institution

Med. Eng. R&D Center, Asan Inst. for Life Sci., Seoul, South Korea

fYear

2013

fDate

3-7 July 2013

Firstpage

4875

Lastpage

4878

Abstract

This paper presents a compliant mechanism for fine motion of a medical robot for needle intervention procedure. The concept of this mechanism is created with the purpose of correcting a needle axis by translating a main robot for needle driving when an unexpected slip happens in needle insertion. In order to specify the concept, a planar compliant mechanism is designed so that the mechanism has maximized workspace for some given design condition. A simplified mathematical model for the designed mechanism is derived and then a pose controller is designed to track a desired trajectory in a plane, which is a similar situation that the compliant mechanism translates a needle driving robot to correct the direction of a needle. The simulation result shows good tracking performance.

Keywords

compliant mechanisms; mathematical analysis; medical robotics; needles; physiological models; compliant parallel mechanism; designed mechanism; mathematical model; medical robot; needle axis; needle driving; needle driving robot; needle insertion; needle intervention procedure; planar compliant mechanism; pose controller; Biomedical imaging; Equations; Manufacturing processes; Mathematical model; Needles; Pistons; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Engineering in Medicine and Biology Society (EMBC), 2013 35th Annual International Conference of the IEEE

Conference_Location

Osaka

ISSN

1557-170X

Type

conf

DOI

10.1109/EMBC.2013.6610640

Filename

6610640