P. Tucan, C. Vaida, B. Gherman, F. Craciun, N. Plitea, I. Birlescu, D. Jucan, D. Pisla
{"title":"Control system of a medical parallel robot for transperineal prostate biopsy","authors":"P. Tucan, C. Vaida, B. Gherman, F. Craciun, N. Plitea, I. Birlescu, D. Jucan, D. Pisla","doi":"10.1109/ICSTCC.2017.8107035","DOIUrl":null,"url":null,"abstract":"This paper presents the validation of the closed loop control system of a parallel robot designed to perform transperineal biopsy of the prostate. The robotic structure is presented along with its kinematic parameters implemented into the control module and validated using a virtual modelling environment. The experimental model is tested using a previously defined motion pattern for the medical procedure and a series of points that simulate the sampling locations inside the prostate.","PeriodicalId":374572,"journal":{"name":"2017 21st International Conference on System Theory, Control and Computing (ICSTCC)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 21st International Conference on System Theory, Control and Computing (ICSTCC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICSTCC.2017.8107035","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 2
Abstract
This paper presents the validation of the closed loop control system of a parallel robot designed to perform transperineal biopsy of the prostate. The robotic structure is presented along with its kinematic parameters implemented into the control module and validated using a virtual modelling environment. The experimental model is tested using a previously defined motion pattern for the medical procedure and a series of points that simulate the sampling locations inside the prostate.
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