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Parallel Cable-Driven Prostate Puncture Robot: Design and Performance Evaluation

delete2025-09-07
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PRE
AI
Y
Yupeng Zou *
T
Tianyu Lan
Z
Zhang, Yanxing
X
Xiaojing Lai
Z
Zhou, Zhishen
C
Changsheng Li
DOI：10.1002/rcs.70102delete
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Abstract

Abstract

En 中文
Background The limited workspace and strong magnetic field inside MRI challenge the design of the prostate puncture robot. Simplifying the robot's structure is crucial.Methods This paper proposes a parallel cable-driven (PCD) prostate puncture robot, and conducts a preliminary material design. The kinematics, statics and stiffness models of the robot are established. The wrench-feasible workspace is also verified. Multibody simulation is used to analyse the robot's performance.Results Motion accuracy experiments were conducted in both planar and spatial configurations, followed by stiffness performance evaluation. During the phantom puncture experiment, the insertion point exhibited horizontal position errors of 0.35 mm and 0.4 mm.Conclusion The non-parallel cable-driven design not only simplifies the robotic structure for prostate puncture surgery but also ensures compatibility with strong magnetic fields. Furthermore, the robot exhibits high motion accuracy and superior stiffness performance.
Keywords:
parallel cable-driven
puncture surgical robot
simulation and experiment validation
wrench-feasible workspace analysis

Journal

I
International Journal of Medical Robotics and Computer Assisted Surgery
IF:
2.1
Papers:
77
Citations:
3.3K

Organization

No organization information available