Paul Tucan

Graphical Simulation System for Functional Analysis of a Parallel Robot for Transperineal Prostate Biopsy

The paper presents the functional analysis of a parallel robotic system used for transperineal prostate biopsy. A simulation system to study the robot functional analysis was developed using the integrated MATLAB software. Given the fact that the robotic system is used in a medical environment, it has to meet certain safety requirements indicated by the medical doctors. In order to fulfill these needs an appeal to complex simulation software has to be made to help choosing the best kinematic solution for the robotic system. The designed simulation software offers a correlation between the structure of the robot and the surrounding medical environment, pointing out its workspace and possible configurations that might harm the human patient during the biopsy.

A Complete Analysis of Singularities of a Parallel Medical Robot

This paper analyzes the singular poses of a 5-DOF parallel robot used for brachytherapy. In compliance with the latest safety protocols and requirements [3] the paper presents a new mathematical model using algebraic constraints and the Study parameterization of the Euclidian displacement group. Using algebraic methods combined with multidimension geometry proved to be efficient in the calculation of the kinematics of mechanisms and in the explanations of their behavior. The results obtained using this algebraic method were analyzed with respect to the data obtained from the experimental model of the robot by comparing theoretical computation results with the actual behavior of the robot. The analysis of the kinematics using these methods allows a complete description of working modes, singularities and robot behavior enabling a safe control throughout the medical task.

Development of a Control System for an Innovative Parallel Robot Used in Prostate Biopsy

The paper presents the development of the control system of a new parallel robot used in prostate biopsy. The control system uses the inverse and forward kinematic models implemented in Matlab/Simulink and integrated in the Automation Studio Target for Simulink kit from Bernecker & Rainer in order to create the code that can be further implemented into X20 Programmable Logic Controller series. The BIO-PROS 1 parallel robot is a complex system composed of two independent kinematic chains working together in order to fulfil the medical requirements of the prostate biopsy procedure.

Design of Dual-Arm Exoskeleton for Mirrored Upper Limb Rehabilitation

The paper addresses the upper limb rehabilitation for post-stroke patients. A dual-arm exoskeleton for the elbow and wrist flexion-extension is proposed. The added benefit of this robotic system is given by its portability and its ability to perform mirrored exercises using the motions provided by the unimpaired limb. The dual-arm exoskeleton addresses patients in the chronic phase after the stroke and even the patients in the post-acute phase allowing them to do rehabilitation exercises themselves.

RAISE - An Innovative Parallel Robotic System for Lower Limb Rehabilitation

Robotic rehabilitation is a developing field of research which could become a necessity in the next decades due to the natural shifting of the population age. The aim of the paper is to present an innovative robotic device for the rehabilitation of the lower limb of patients in the acute post stroke phase. The parallel robot has a modular construction enabling the mobility of each major joint: hip, knee and ankle. Furthermore, the robotic system kinematics is presented and the singularities are derived, to validate the proposed system for its intended medical task, considering the upper limb motion requirements for the rehabilitation exercises.

Kinematic Analysis for a Prostate Biopsy Parallel Robot Using Study Parameters

The paper presents the forward kinematics computation for a parallel robotic system designed for prostate biopsy using Study parameters. The manipulator is analyzed on its smaller kinematic chains to facilitate the computation, in a way that no information is lost from the robotic system functionality. Kinematic solutions examples are presented based on numerical values given for the robot geometric parameters and active joint position.

A Kinematic Characterization of a Parallel Robotic System for Lower Limb Rehabilitation

The paper presents an innovative architecture of a parallel robot designed for lower limb rehabilitation of post-stroke patients. The work presented in this paper addresses the challenges presented in numerous reports, like in the Multi-Annual Roadmap, ICT 24-28 concerning the need for rehabilitation and assistive devices with the ageing of population, especially in Europe. The robot has a simple design and it is intended to be used especially for bed-ridden patients, even since the acute phase of the stroke, to accelerate the rehabilitation process. A complete kinematic analysis has been performed using the Study parameters of SE(3), and numerical simulations have been presented.

TOWARDS A FAIL-SAFE PROSTATE BIOPSY PARALLEL ROBOT USING ALGEBRAIC GEOMETRY

The paper presents the description of the singular loci for a parallel robotic system designed for transperineal prostate biopsy, using algebraic geometry. Singular configurations define the conditions where a robot has an uncontrollable behavior, by losing or gaining degrees of freedom, and must be avoided in exploitation. The proposed approach ensures the complete description of all mathematical singular configurations with a double role, for enabling structural optimization, and a real-time PLC configuration as a fail-safe tool for the robot during exploitation. The method used for singularity analysis uses Study parameters to obtain the mathematical model, and algebraic geometry to solve the model. A clear separation is made between the theoretical singularities and the physically possible ones, and the findings of this research are compared to previews research regarding the parallel robot presented in this paper.

Control system of a medical parallel robot for transperineal prostate biopsy

This paper presents the validation of the closed loop control system of a parallel robot designed to perform transperineal biopsy of the prostate. The robotic structure is presented along with its kinematic parameters implemented into the control module and validated using a virtual modelling environment. The experimental model is tested using a previously defined motion pattern for the medical procedure and a series of points that simulate the sampling locations inside the prostate.

BIO-PROS-2: An innovative parallel robotic structure for transperineal prostate biopsy

This paper presents the kinematic design and simulation of a parallel robot for transperineal prostate biopsy entitled BIO-PROS-2. Parallel structures have been widely appreciated for their positioning precision and stiffness, making them a viable option for transperineal prostate biopsy. The robotic system is designed according to a specific protocol covering both therapeutic and safety issues. BIO-PROS-2 kinematic design is presented, followed by the geometric and kinematic modeling and the workspace for some predefined insertion points. The simulation results with the robot integrated with the medical task are also presented.