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

Jiangnan Wang, Ruiqi Xiang, Jindong Xiang, Baichuan Wang, Xiyun Wu, Mingzhen Cai, Zhijie Pan, Mengtang Li () and Xun Li
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Jiangnan Wang: School of Intelligent Systems Engineering, Shenzhen Campus of Sun Yat-sen University, Shenzhen 518107, China
Ruiqi Xiang: School of Intelligent Systems Engineering, Shenzhen Campus of Sun Yat-sen University, Shenzhen 518107, China
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

Mathematics, 2024, vol. 12, issue 10, 1-25

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.

Keywords: needle biopsy robot; kinematic modeling; Jacobian analysis; simulation; experiment validation (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2024
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