Kinematic Analysis of an Innovative Medical Parallel Robot Using Study Parameters

  • Calin VaidaEmail author
  • Doina Pisla
  • Josef Schadlbauer
  • Manfred Husty
  • Nicolae Plitea
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 39)


The paper investigates the kinematic analysis of an innovative 5-DOF parallel medical robot used for brachytherapy. Robotic assisted brachytherapy involves the targeted treatment of cancerous cells delivering high dosages of radiation inside the tumor, using as guiding tool a highly accurate robotic arm. The kinematic modeling of this mechanism is addressed using algebraic constraint varieties and the Study parametrization of the Euclidean displacement group. Algebraic methods in connection with classical multi-dimensional geometry have proven to be very efficient in the computation of direct and inverse kinematics of mechanisms as well as the explanation of strange, pathological behavior. The obtained results are simulated and compared with the results obtained by the evaluation of the determinants of the A and B Jacobi matrices. This complete kinematic analysis of the robot will largely increase its safety during the medical procedure.


Parallel robot Kinematics Study parameters Singularities analysis Brachytherapy 



This paper was supported by the Project no. 173/2012, code PN-II-PCCA-2011-3.2-0414, entitled “Robotic assisted brachytherapy, an innovative approach of inoperable cancers - CHANCE” and the Bilateral Austria—Romania Project 745/2014, entitled “Developing methods to evaluate the accuracy of potential parallel robots for medical applications” both financed by UEFISCDI.


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Calin Vaida
    • 1
    Email author
  • Doina Pisla
    • 1
  • Josef Schadlbauer
    • 2
  • Manfred Husty
    • 2
  • Nicolae Plitea
    • 1
  1. 1.CESTERTechnical University of Cluj-NapocaCluj-NapocaRomania
  2. 2.Unit for Geometry and CADUniversity of InnsbruckInnsbruckAustria

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