New hepatic biopsy robot prototype

Abstract

This work presents a new robot architecture to be used in hepatic biopsies. This paper focuses on the orientation subsystem of the robot, its mechanical design, modeling and simulations. First experimental results are reported in this paper. The goal of this work will be to compare the quality of hepatic tissue samples, taken by conventional procedures, with those taken by the robot prototype, however, this study is not reported here. © Springer-Verlag Berlin Heidelberg 2007.