Hybrid Robot for Percutaneous Needle Intervention Procedures: Mechanism Design and Experiment Verification
Hanyi Zhang,Guocai Yao,Feifan Zhang,Fanchuan Lin,Fuchun Sun,Hanyi Zhang,Guocai Yao,Feifan Zhang,Fanchuan Lin,Fuchun Sun
This paper presents a 6-DOF hybrid robot for percutaneous needle intervention procedures. The new robot combines the advantages of both serial robots and parallel robots, featuring compactness, high accuracy, and small footprint while overcoming the problems of the high cost of serial robots and the small workspace and singularity issue of parallel robots. Besides, by analyzing the workspace of th...
