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

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

Research output: Contribution to journalArticlepeer-review


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
Publication statusPublished - 2017

Bibliographical note

Funding Information:
The research for this paper was supported by the National Research Foundation of Korea (NRF) (NRF-2013M2A8A1051065).

Publisher Copyright:
© 2017 Sun Young Noh et al.

All Science Journal Classification (ASJC) codes

  • Biotechnology
  • Surgery
  • Biomedical Engineering
  • Health Informatics


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