This work presents a new robot architecture to be used in hepatic biopsies. This paper focuses on the orientation subsystem of the robot, its mechanical design, modeling, simulations and first experimental results. The goal of this work will be to compare the quality of hepatic tissue samples, taken by conventional procedures, with those taken by the robot prototype; however, this study is not yet reported here.
Robotic Architecture for Hepatic Biopsies
2007-09-01
908878 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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