A miniature patient‐mount navigation system for assisting needle placement in CT‐guided intervention

Abstract

We concluded that the accuracy of our system is within the comparable range of the existing navigation systems.

Research on the kinematic method of 3D visual window for surgical robot in dynamic vision

“…Equation (6) points out the homogeneous transformation matrix 0 8 T from the base coordinate system to the tool coordinate system. y y y y pas act act act act z z z n o a p n o a p T T T T T T n …”

“…The research of the domestic medical robot started late, but we still have got a lot of progress and development with the more and more attention payed to this field in China [6][7]. Beijing University of Aeronautics and Astronautics developed the brain surgery robot system which is the first proprietary medical surgical robot in china with Naval General Hospital.…”

Design and Kinematic Analysis of a New End-Effector for a Robotic Needle Insertion-Type Intervention System

“…A parallelogram is a typical RCM mechanism [6, 14–17], Gimbal [1, 18] and arc [19] can also be an RCM mechanism. Combinations of double planar mechanisms [5, 20–22] and a Gough-Stewart platform-type parallel mechanism [3] have been developed as RCM mechanisms. Spatial linkages constructed by four-or five-bars could implement RCM motion by their geometries [2, 23, 24].…”