PARALLEL ROBOTS FAMILY FOR TRANSPERINEAL BIOPSY OF PROSTATE

摘要

The invention relates to a family of parallel robots meant to be used in ultrasound-guided transperineal biopsy of prostate. According to the invention, the family comprises three robots (1, 81, 161), each of them having two modules (2 and 3, 82 and 83, 162 and 163), mounted on a bedframe (6), each module guiding an ultrasound probe (4, 84 and 164) and the needle of a biopsy gun (5, 85 and 165), respectively, having five mobility degrees which allows the positioning of the ultrasound probe (4, 84 and 164) and the biopsy gun needle (5, 85 and 165) and orientation of the needle about two axes, while eliminating only the unnecessary rotation movement.