Development of a Prototype Robotic System for Radiosurgery with Upper Hemispherical Workspace

Abstract

This paper introduces a specialized robotic system under development for radiosurgery using a small-sized linear accelerator. The robotic system is a 5-DOF manipulator that can be installed above a patient to make an upper hemispherical workspace centered in a target point. In order to determine the optimal lengths of the link, we consider the requirements for the workspace of a linear accelerator for radiosurgery. A more suitable kinematic structure than conventional industrial manipulators is proposed, and the kinematic analysis is also provided. A graphic simulator is implemented and used for dynamic analysis. Based on those results, a prototype manipulator and its control system are under development.

Robotic Systems in Radiotherapy and Radiosurgery

“…While research in novel robotic systems for RT or RS delivery is rare from non-commercial parties due to the costs associated with prototypes, Noh et al presented a prototypical ceiling mounted 5 DoF system for delivery of cylinder shaped beams [11]. The robotic system was designed and simulated such that the workspace excludes poses near the patient couch and a prototype was manufactured.…”