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Modeling, Analysis and Evaluation of a Novel Compact 6-DoF 3-RRRS Needle Biopsy Robot

Author

Listed:
  • Jiangnan Wang

    (School of Intelligent Systems Engineering, Shenzhen Campus of Sun Yat-sen University, Shenzhen 518107, China
    These authors contributed equally to this work.)

  • Ruiqi Xiang

    (School of Intelligent Systems Engineering, Shenzhen Campus of Sun Yat-sen University, Shenzhen 518107, China
    These authors contributed equally to this work.)

  • Jindong Xiang

    (School of Intelligent Systems Engineering, Shenzhen Campus of Sun Yat-sen University, Shenzhen 518107, China)

  • Baichuan Wang

    (School of Intelligent Systems Engineering, Shenzhen Campus of Sun Yat-sen University, Shenzhen 518107, China)

  • Xiyun Wu

    (School of Intelligent Systems Engineering, Shenzhen Campus of Sun Yat-sen University, Shenzhen 518107, China)

  • Mingzhen Cai

    (School of Electronics and Communication Engineering, Shenzhen Campus of Sun Yat-sen University, Shenzhen 518107, China)

  • Zhijie Pan

    (School of Intelligent Systems Engineering, Shenzhen Campus of Sun Yat-sen University, Shenzhen 518107, China)

  • Mengtang Li

    (School of Intelligent Systems Engineering, Shenzhen Campus of Sun Yat-sen University, Shenzhen 518107, China)

  • Xun Li

    (Department of Electrical and Computer Engineering, Vanderbilt University, Nashville, TN 37235, USA)

Abstract

Robot-assisted surgical systems have been widely applied for minimally invasive needle biopsies thanks to their excellent accuracy and superior stability compared to manual surgical operations, which lead to possible fatigue and misoperation due to long procedures. Current needle biopsy robots are normally customed designed for specific application scenarios, and only position-level kinematics are derived, preventing advanced speed control or singularity analysis. As a step forward, this paper aims to design a universal needle biopsy robot platform which features 6 DoF 3-RRRS (Revolute–Revolute–Revolute–Spherical) parallel structure. The analytical solutions to its nonlinear kinematic problems, including forward kinematics, inverse kinematics, and differential kinematics are derived, allowing fast and accurate feedback control calculations. A multibody simulation platform and a first-generation prototype are established next to provide comprehensive verifications for the derived robotic model. Finally, simulated puncture experiments are carried out to illustrate the effectiveness of the proposed method.

Suggested Citation

  • Jiangnan Wang & Ruiqi Xiang & Jindong Xiang & Baichuan Wang & Xiyun Wu & Mingzhen Cai & Zhijie Pan & Mengtang Li & Xun Li, 2024. "Modeling, Analysis and Evaluation of a Novel Compact 6-DoF 3-RRRS Needle Biopsy Robot," Mathematics, MDPI, vol. 12(10), pages 1-25, May.
    • Handle: RePEc:gam:jmathe:v:12:y:2024:i:10:p:1461-:d:1390745
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    References listed on IDEAS

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    1. Akritas, Alkiviadis G. & Malaschonok, Gennadi I., 2004. "Applications of singular-value decomposition (SVD)," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 67(1), pages 15-31.
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