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

doi:10.1109/ROBOT.2008.4543589

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 proceeding › Conference 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 language	English
Title of host publication	2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Pages	2503-2508
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2008.4543589
Publication status	Published - 2008 Sep 18
Externally published	Yes
Event	2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States Duration: 2008 May 19 → 2008 May 23

Publication series

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

Other

Other	2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Country	United States
City	Pasadena, CA
Period	08/5/19 → 08/5/23

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ROBOT.2008.4543589

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Tadakuma, K., DeVita, L. M., Plante, J. S., Shaoze, Y., & Dubowsky, S. (2008). The experimental study of a precision parallel manipulator with binary actuation: With application to MRI cancer treatment. In 2008 IEEE International Conference on Robotics and Automation, ICRA 2008 (pp. 2503-2508). [4543589] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2008.4543589

The experimental study of a precision parallel manipulator with binary actuation : With application to MRI cancer treatment. / Tadakuma, K.; DeVita, L. M.; Plante, J. S.; Shaoze, Y.; Dubowsky, S.

2008 IEEE International Conference on Robotics and Automation, ICRA 2008. 2008. p. 2503-2508 4543589 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Tadakuma, K, DeVita, LM, Plante, JS, Shaoze, Y & Dubowsky, S 2008, The experimental study of a precision parallel manipulator with binary actuation: With application to MRI cancer treatment. in 2008 IEEE International Conference on Robotics and Automation, ICRA 2008., 4543589, Proceedings - IEEE International Conference on Robotics and Automation, pp. 2503-2508, 2008 IEEE International Conference on Robotics and Automation, ICRA 2008, Pasadena, CA, United States, 08/5/19. https://doi.org/10.1109/ROBOT.2008.4543589

Tadakuma K, DeVita LM, Plante JS, Shaoze Y, Dubowsky S. The experimental study of a precision parallel manipulator with binary actuation: With application to MRI cancer treatment. In 2008 IEEE International Conference on Robotics and Automation, ICRA 2008. 2008. p. 2503-2508. 4543589. (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2008.4543589

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