A planar compliant parallel robotic mechanism for robotic needle intervention

This paper presents a basic concept of a robot mechanism for a robot used in needle intervention procedure. The robot mechanism is devised to give variable remote center of motion to the intervention robot. This function is expected to be a good solution for two cases: correction of the needle axis and compensation of needle position due to patients' motion. The mechanism is designed with some requirements such as mobility and workspace. A kinematic analysis determines parameters of the mechanism so that the mechanism's workspace includes at least a required working area. A three dimensional model is created from the resultant design.