Development of a Prototype Robotic System for Radiosurgery with Upper Hemispherical Workspace

Abstract EN

This paper introduces a specialized robotic system under development for radiosurgery using a small-sized linear accelerator.

The robotic system is a 5-DOF manipulator that can be installed above a patient to make an upper hemispherical workspace centered in a target point.

In order to determine the optimal lengths of the link, we consider the requirements for the workspace of a linear accelerator for radiosurgery.

A more suitable kinematic structure than conventional industrial manipulators is proposed, and the kinematic analysis is also provided.

A graphic simulator is implemented and used for dynamic analysis.

Based on those results, a prototype manipulator and its control system are under development.