David Levi

Body-Mounted Robot for Image-Guided Percutaneous Interventions: Mechanical Design and Preliminary Accuracy Evaluation

This paper presents a body-mounted, four degree-of-freedom (4-DOF) parallel mechanism robot for image-guided percutaneous interventions. The design of the robot is optimized to be light weight and compact such that it could be mounted to the patient body. It has a modular design that can be adopted…