Design and Workspace Analysis of a Differential Motion Rotary Style Breast Interventional Robot.
Yongde ZhangLiyi SunDexian LiangHaiyan DuPublished in: Applied bionics and biomechanics (2020)
The structure of a differential rotary breast interventional robot is determined, with the link frames assigned to the mechanism and the Denavit-Hartenberg parameters given. Workspace simulation of MRI-compatible breast interventional robot is done in MATLAB. The 3D printed MRI-compatible breast interventional robot is assembled and debugged to verify that its working space and positioning error meet the requirements.