BIO-PROS-2: An innovative parallel robotic structure for transperineal prostate biopsy

Abstract

This paper presents the kinematic design and simulation of a parallel robot for transperineal prostate biopsy entitled BIO-PROS-2. Parallel structures have been widely appreciated for their positioning precision and stiffness, making them a viable option for transperineal prostate biopsy. The robotic system is designed according to a specific protocol covering both therapeutic and safety issues. BIO-PROS-2 kinematic design is presented, followed by the geometric and kinematic modeling and the workspace for some predefined insertion points. The simulation results with the robot integrated with the medical task are also presented.