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Mechanical Sciences An open-access journal for theoretical and applied mechanics

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Mech. Sci., 8, 195-213, 2017
https://doi.org/10.5194/ms-8-195-2017
© Author(s) 2017. This work is distributed under
the Creative Commons Attribution 3.0 License.
Research article
28 Jun 2017
Development of a parallel robotic system for transperineal biopsy of the prostate
Doina Pisla et al.

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Short summary
The paper presents a parallel robot designed to manipulate the equipment of a prostate biopsy procedure (an ultrasound probe and biopsy needle). Inverse and forward kinematic models are presented along with the workspace and singularities of the robot. Using the experimental model, tests were performed and an accuracy of 1–2 mm was achieved. A fusion system between an MRI and an ultrasound image (from an endorectal probe) was developed to reduce the number of sampling points to a minimum.
The paper presents a parallel robot designed to manipulate the equipment of a prostate biopsy...
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