Design and kinematics analysis of prostate assisted puncture robotic arm mechanism
HU Yanfang
WANG Haonan
CAI Lidong
QIAN Meichen
WU Xijuan
LIU Changcheng
Abstract：[Objective]Aiming at the problems of narrow surgical environment,high demand for human-machine cooperation and the influence of electromagnetic system on positioning effect in prostate biopsy surgery,a prostate assisted puncture robotic arm was designed to meet the practical demand for precise positioning in surgery.[Methods]Firstly,a 3D model of the robotic arm was established and the implementation modes of each mechanism were analyzed.Secondly,a kinematics model was constructed based on the standard D-H parameter method to complete the forward and inverse kinematics analysis,and the workspace of the robotic arm was calculated by the Monte Carlo method.Then,the correctness of the inverse kinematics method was verified by comparing the errors of tracking a helix in the workspace.Finally,a test platform was built to complete the positioning test,and the sources of position errors were analyzed.[Results]The designed robotic arm can reach the puncture point accurately,with the inverse kinematics solution error reaching the level of 10-3;the average distance error is 9.38 mm in horizontal puncture and 5.66 mm in inclined puncture,which verify the effectiveness of the mechanism design and inverse kinematics algorithm.
Keywords：Prostate assisted puncture robotic armMechanism designKinematics analysisWorkspace
Publication Date：2026-02-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：11( 154-164 )