The need to high performance, stability, and dexterity robot is the main motivation to improve
industrial robots, parallel robots are general-purpose industrial robots, that can give all …

The paper presents the mathematical modelling of the direct kinematics and singularities for
a parallel robotic system designed for prostate biopsy. The mathematical description is …

The image-guided prostate intervention robot can assist surgeons in performing minimally
invasive intervention procedures. It has the advantage of overcoming the disadvantages of a …

The non-surgical treatment of hepato-cellular liver carcinoma is an open problem as no
current approach seems to reduce its mortality. The authors propose a new medical …

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 …

The paper aims to describe the forces and torques that appear during the percutaneous
needle insertion (through in vivo laboratory experiments) and investigate the benefits of a …

An experimental study regarding brachytherapy needle deflection is presented in this paper.
The experimental study is conducted using a collaborative robotic arm with a force/torque …

The paper presents the design of a medical instrument proposed for the robotic-assisted
radiofrequency ablation procedure using the PARABRACHYROB parallel robotic system …

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 …

The paper presents the design of an innovative parallel robot used in transperineal prostate
biopsy. Starting from a concept design and using the means of modern engineering, an …