Control system of a medical parallel robot for transperineal prostate biopsy

This paper presents the validation of the closed loop control system of a parallel robot designed to perform transperineal biopsy of the prostate. The robotic structure is presented along with its kinematic parameters implemented into the control module and validated using a virtual modelling environment. The experimental model is tested using a previously defined motion pattern for the medical procedure and a series of points that simulate the sampling locations inside the prostate.