SIMULATION AND CONTROL OF AN INNOVATIVE MEDICAL PARALLEL ROBOT USED FOR HCC TREATMENT PROCEDURE

The paper presents numerical simulations and the modular control system of an innovative parallel robot designed for the targeted treatment of hepatic tumors. The robotic system is composed of two modules (one for needle insertion and the second one for ultrasound probe manipulation), therefore the input-output kinematic equations are optimized and used in the control strategies to ensure adequate control with respect to the medical procedure requirements. Numerical simulations are achieved showing optimal kinematic behavior, which in turn validates the robotic system for the medical procedure. The development of control system and the experimental model are also presented.