Abstract
The paper presents the kinematic analysis of two medical instruments to be used in a robotic system designed for the minimally invasive treatment of non-resectable liver tumors. The instruments will be attached to a parallel robotic system having two modules, one for guiding each instrument. The first one targets the multiple needle insertion for brachytherapy procedures, while the other one is used for guiding a intra-operatory ultrasound probe used for the visual control of the trajectory of the brachytherapy needles. The paper analyses the constraint equations of the two robotic instruments and their integration into the robotic system, using an algebraic method based on the Study parameters of the special Euclidean transformation Lie group SE(3).
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