| abstract |
An embodiment in accordance with the present invention provides a remote center of motion robot. The RCM here is a parallelogram bar type RCM mechanism with a novel joint arrangement. The novel joint arrangement facilitates the mounting of the medical instrument and offers improved clearance relative to the patient. Moreover, the robot was built to guide a bone biopsy cannula, needle, or drill. Even though exact interventional values are unknown, it is expected that the forces exerted laterally on the needle-guide are higher than those encountered for slender needle insertion into soft tissue. For this, the RCM has been built with novel structure to enhance stiffness. |