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One of the most common procedures implemented in the diagnosis of cancer and tumour is percutaneous biopsy under computed tomography (CT) image guidance. A 9-DOF hybrid redundant fully actuated robotic manipulator with a novel arc and train design is developed here for the retrieval of suspected tissue for biopsy procedure under CT guidance. Mathematical model, forward, inverse kinematics and joint trajectory equations of the robotic manipulator is formulated using standard DH convention. Inverse kinematics of the novel arc and train structure for CT bed mountability is also derived in this research. 3D-CAD model of the robot is developed and compared with the CT machine and a human model in SolidWorks 2016. Theoretical simulation is performed using the derived equations in MATLAB. Target for the simulation and experimentation is obtained from CT image with the help of an expert radiologist in KIMS hospital, Bhubaneswar. Five experiments is performed using the target point to understand the repeatability of the robotic manipulator. Deviation analysis of the robot in reaching the target during experimentation is obtained and plotted using a dual camera setup and internal position sensors of the actuator. The experimental results were well within acceptable parameters under laboratory conditions.
Shah et al. (Sat,) studied this question.
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