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In this paper, we present a novel robotic assistant dedicated to medical interventions under computed tomography scan guidance. This compact and lightweight patient-mounted robot is designed so as to fulfill the requirements of most interventional radiology procedures. It is built from an original 5 DOF parallel structure with a semispherical workspace, particularly well suited to CT-scan interventional...
Medical robotics is a field where dedicated mechanisms have an increasing importance. The strong operating room constraints, both medical and practical, lead to heavily customized solutions. In this paper, we consider the practical problems that must be solved to build a robotic system dedicated to medical interventions under CT-scan guidance. This compact robotic assistant is placed on the patient...
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