Abstract
There is a surgical method called Interventional Radiology(IVR) using CT equipment in the medical treatment of lung cancer, a blood vessel, and so on. IVR has the advantage that invasiveness is low and the medical treatment in local anesthesia is possible as compared with a laparotomy surgery. Therefore the number of IVR surgery has been increasing in recent years. But, radiation exposure to doctors has been concerned in the current IVR since doctors conduct the treatment using CT equipment. Thus, the IVR robot is developed in order to avoid the radioactive exposure to doctors. In this research, a robot using a parallel link mechanism is developed from the viewpoints that hand accuracy and hand rigidity are high and a motor can be arranged in the position separated from CT scanning plane.The dual delta-type parallel link is proposed. It has the structure arranged the Delta-type parallel link mechanism with three degrees of freedom(DOF). First, the arm which has offset of the axis in consideration of interference was designed. Secondly, inverse kinematics analysis of a parallel link was conducted. Next, Delta-type parallel link mechanism with three DOF was manufactured. Finally, basic motion of parallel link robot was confirmed.
