Design of a Parallel Robot for Transperineal Prostate Biopsy

Abstract

The paper presents the design of an innovative parallel robot used in transperineal prostate biopsy. Starting from a concept design and using the means of modern engineering, an experimental model has been developed. Special attention has been given to the achievement of the robot joints and links to obtain maximum stiffness and reduce the dimensions and thus avoiding internal collisions and providing a maximum workspace.