DOI: 10.1109/iccas.2013.6703869
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Abstract: This paper presents a basic concept of a robot mechanism for a robot used in needle intervention procedure. The robot mechanism is devised to give variable remote center of motion to the intervention robot. This function is expected to be a good solution for two cases: correction of the needle axis and compensation of needle position due to patients' motion. The mechanism is designed with some requirements such as mobility and workspace. A kinematic analysis determines parameters of the mechanism so that the …

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