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

doi:10.1155/2017/4264356

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

Division of Environmental Engineering

Research output: Contribution to journal › Article

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 language	English
Article number	4264356
Journal	Journal of Healthcare Engineering
Volume	2017
DOIs	https://doi.org/10.1155/2017/4264356
Publication status	Published - 2017

All Science Journal Classification (ASJC) codes

Biotechnology
Surgery
Biomedical Engineering
Health Informatics

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Noh, S. Y., Jeong, K., Seo, Y. C., Kim, C. H., Park, J., Choi, Y. R., Lee, S. U., Bae, Y. G., & Kim, S. (2017). Development of a Prototype Robotic System for Radiosurgery with Upper Hemispherical Workspace. Journal of Healthcare Engineering, 2017, [4264356]. https://doi.org/10.1155/2017/4264356

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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.",

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