The experimental study of a precision parallel manipulator with binary actuation: With application to MRI cancer treatment

K. Tadakuma, L. M. DeVita, J. S. Plante, Y. Shaoze, S. Dubowsky

Research output: Chapter in Book/Report/Conference proceedingConference contribution

38 Citations (Scopus)

Abstract

In this paper the performance of a high-precision parallel robot manipulator with bistable actuation is experimentally evaluated. The manipulator is for performing prostate cancer biopsy and treatment within the bore of a Magnetic Resonance Imaging (MRI) system. The analysis and simulations have shown that this bistable manipulator is able to perform well with dielectric elastomer actuators that have been shown to be compatible with the high magnetic fields of an MRI. In this work an experimental prototype system was developed and tested. The results show that it provides the precise needle placement required by the medical task.

Original languageEnglish
Title of host publication2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Pages2503-2508
Number of pages6
DOIs
Publication statusPublished - 2008 Sep 18
Externally publishedYes
Event2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
Duration: 2008 May 192008 May 23

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2008 IEEE International Conference on Robotics and Automation, ICRA 2008
CountryUnited States
CityPasadena, CA
Period08/5/1908/5/23

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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