Peter Ka Fung Chiu

Design and Geometry-Aware Planning of a Novel Probe-Scanning Manipulator with RCM Constraint

The remote center of motion (RCM) constraint is a vital requirement in the design of robotic systems for transrectal ultrasound (TRUS) probe-scanning. This paper presents the design and development of a novel RCM-constrained manipulator specifically tailored for TRUS probe-scanning applications. The