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

Sun Young Noh, Kyungmin Jeong, Yongchil Seo, Chang Hoi Kim, Jongwon Park, Yoo Rark Choi, Sung Uk Lee, Yeong Geol Bae, Seungho Kim

Research output: Contribution to journalArticle

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.

Original languageEnglish
Article number4264356
JournalJournal of Healthcare Engineering
Volume2017
DOIs
Publication statusPublished - 2017 Jan 1

Fingerprint

Linear accelerators
Radiosurgery
Robotics
Biomechanical Phenomena
Manipulators
Kinematics
Industrial manipulators
Particle Accelerators
Dynamic analysis
Simulators
Control systems

All Science Journal Classification (ASJC) codes

  • Biotechnology
  • Surgery
  • Biomedical Engineering
  • Health Informatics

Cite this

Noh, Sun Young ; Jeong, Kyungmin ; Seo, Yongchil ; Kim, Chang Hoi ; Park, Jongwon ; Choi, Yoo Rark ; Lee, Sung Uk ; Bae, Yeong Geol ; Kim, Seungho. / Development of a Prototype Robotic System for Radiosurgery with Upper Hemispherical Workspace. In: Journal of Healthcare Engineering. 2017 ; Vol. 2017.
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Development of a Prototype Robotic System for Radiosurgery with Upper Hemispherical Workspace. / Noh, Sun Young; Jeong, Kyungmin; Seo, Yongchil; Kim, Chang Hoi; Park, Jongwon; Choi, Yoo Rark; Lee, Sung Uk; Bae, Yeong Geol; Kim, Seungho.

In: Journal of Healthcare Engineering, Vol. 2017, 4264356, 01.01.2017.

Research output: Contribution to journalArticle

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