Continuous Body Type Prostate Biopsy Robot for Confined Space Operation

To solve the problem of prostate puncture biopsy in confined spaces, a wire-driven continuum-type biopsy robot is designed based on the bionic principle in this paper. The robot consists of a continuum-type robot arm and a puncture end, where the continuum-type robot arm consists of multiple rigid nodes and four sets of driving wires. The rigid nodes of the continuum structure are used as the skeleton and the four sets of wire wires are used as the driving wires so that each of the two segments of the continuum has two bending degrees of freedom. The kinematics of the robot were solved using a combination of the D-H method and geometric analysis,and the kinematic model of the system was solved using MATLAB software.Finally, the principle prototype was fabricated for experiments. The positioning error of the robotic arm is generally less than 2.5 mm, which has good kinematic performance and can accomplish the demand of prostate biopsy puncture under narrow space.