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Experiences on the Design of a Needle Insertion Surgery Robot: Kinematic Analysis

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Advances in Automation and Robotics Research in Latin America

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 13))

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Abstract

In this work is presented the evolution of the concept of a needle insertion surgery robot. Five different prototypes were proposed, keeping the core concept of decoupling kinematics, and passing from a passive device to an autonomous robot. The kinematics of the mechanisms are presented. The different configurations for the inverse kinematics are introduced. The workspace of the final prototype is analyzed.

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References

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Acknowledgements

The authors would like to thank the financial support of Spanish Government CICYT Project Ref. DPI2014-57220-C2-1-P, DPI2013-49527-EXP Universidad Politécnica de Madrid Project Ref. AL14-PID-15 and also to Comunidad de Madrid who supports the project ROBOCITY2030-III P2013/MIT-2748.

Author information

Authors and Affiliations

  1. Centro de Automática Y Robótica, UPM-CSIC, Jose Gutierrez de Abascal 2, 28006, Madrid, Spain

    Lisandro J. Puglisi, Roque Saltaren Pazmiño, Cecilia E. Garcia Cena & Rafael Aracil Santonja

  2. Hospital RUBER Internacional, Unidad de Radiofísica, Madrid, Madrid, Spain

    Germán Rey Portolés

Authors
  1. Lisandro J. Puglisi
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  2. Roque Saltaren Pazmiño
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  3. Germán Rey Portolés
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  4. Cecilia E. Garcia Cena
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  5. Rafael Aracil Santonja
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Corresponding author

Correspondence to Lisandro J. Puglisi .

Editor information

Editors and Affiliations

  1. Facultad de Ingeniería Eléctrica (FIE), Universidad Tecnológica de Panamá , Panamá, Panama

    Ignacio Chang

  2. Computer Science Department, College of Information Science & Technology, University of Nebraska at Omaha, Omaha, Nebraska, USA

    José Baca

  3. Guadalupe C.P., Av. Barranquilla S/N, Col. Guadalupe C.P., Monclova, Coahuila, Mexico

    Héctor A. Moreno

  4. Guadalupe C.P., Av. Barranquilla S/N, Col. Guadalupe C.P., Monclova, Coahuila, Mexico

    Isela G. Carrera

  5. El Salvador, El Salvador

    Manuel N. Cardona

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Puglisi, L.J., Pazmiño, R.S., Portolés, G.R., Cena, C.E.G., Santonja, R.A. (2017). Experiences on the Design of a Needle Insertion Surgery Robot: Kinematic Analysis. In: Chang, I., Baca, J., Moreno, H., Carrera, I., Cardona, M. (eds) Advances in Automation and Robotics Research in Latin America. Lecture Notes in Networks and Systems, vol 13. Springer, Cham. https://doi.org/10.1007/978-3-319-54377-2_4

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  • DOI: https://doi.org/10.1007/978-3-319-54377-2_4

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-54376-5

  • Online ISBN: 978-3-319-54377-2

  • eBook Packages: EngineeringEngineering (R0)

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