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 | |
| Publication status | Published - 2017 Jan 1 |
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All Science Journal Classification (ASJC) codes
- Biotechnology
- Surgery
- Biomedical Engineering
- Health Informatics
Cite this
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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 journal › Article
TY - JOUR
T1 - Development of a Prototype Robotic System for Radiosurgery with Upper Hemispherical Workspace
AU - Noh, Sun Young
AU - Jeong, Kyungmin
AU - Seo, Yongchil
AU - Kim, Chang Hoi
AU - Park, Jongwon
AU - Choi, Yoo Rark
AU - Lee, Sung Uk
AU - Bae, Yeong Geol
AU - Kim, Seungho
PY - 2017/1/1
Y1 - 2017/1/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85027357137&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85027357137&partnerID=8YFLogxK
U2 - 10.1155/2017/4264356
DO - 10.1155/2017/4264356
M3 - Article
VL - 2017
JO - Journal of Healthcare Engineering
JF - Journal of Healthcare Engineering
SN - 2040-2295
M1 - 4264356
ER -