Yilun Shi

Mechanism Design, Optimization, and Experimental Validation of an Ultrasound-Guided Series-Parallel Hybrid Robot for Prostate Transperineal Puncture

Transperineal prostate puncture is challenging for the physician to manually place a needle and presents a steep learning curve. This paper proposes a novel ultrasound -guided series-parallel hybrid robot with the aim to enhance transperineal procedures. For maximum prostate coverage with flexibilit