Mechanism Design, Optimization, and Experimental Validation of an Ultrasound-Guided Series-Parallel Hybrid Robot for Prostate Transperineal Puncture*

Le résumé fourni par la source

Transperineal prostate puncture is challenging for the physician to manually place a needle and presents a steep learning curve. This paper proposes a novel ultrasound -guided series-parallel hybrid robot with the aim to enhance transperineal procedures. For maximum prostate coverage with flexibility and accuracy in needle placement, a 5 degrees of freedom series-parallel hybrid mechanism with two serial manipulators, a linear feeding unit, and an US probe positioning mechanism is be designed. In addition to mechanical design and kinematics modeling, an QPSO algorithm is proposed to optimize the mechanical parameters. Upon comprehensive comparison with alternative algorithms, the optimization outcomes fully align with clinical requirements. The prototype was fabricated and verified through needle insertion experiments in different scenarios to assess its feasibility. The absolute positioning error of the robot is 1.47 mm in water and 1.75 mm in gel phantom.

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