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.
Bibliographical noteFunding Information:
The research for this paper was supported by the National Research Foundation of Korea (NRF) (NRF-2013M2A8A1051065).
© 2017 Sun Young Noh et al.
All Science Journal Classification (ASJC) codes
- Biomedical Engineering
- Health Informatics