Design of a Needle Insertion Module for Robotic Assisted Transperineal Prostate Biopsy

摘要

The paper presents the design of a needle insertion module for robotic assisted transperineal prostate biopsy, using a commercially available biopsy gun. The module is designed to be used as an end-effector for different robotic systems suitable for this medical task. The geometric and kinematic parameters of the insertion module are presented in correlation with a set of experimental data that supplied critical inputs for the solution development.