Jung, MyungJin (Chonnam National University), Kim, Chang-Sei (Chonnam National University)

A Cable-Driven Parallel Robot for an X-Ray Image-Guided Pain Intervention

Scheduled for presentation during the Regular Session "Surgical Robots" (WeAT4), Wednesday, July 16, 2025, 11:00−11:20, Room 108

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on July 16, 2025

Abstract

Cable-Driven Parallel Robot (CDPR) offers advantages such as a thin wired actuation and a wide workspace through the use of flexible cables. Leveraging these benefits, we propose a platform for pain interventional procedures addressing challenges associated with workspace limitations and X-ray interference of conventional rigid linked needle insertion robots. The proposed system enables the replacement of manual procedures by achieving synchronized movements between the user's manipulation and the needle insertion movement through real-time communication. Design, fabrication, workspace analysis, and rotational center of motion were implemented in this study. Simulation and experiments were conducted for validation. The feasibility of a virtual remote center of motion was verified in a phantom model highlighting the system's potential for precise operation and an X-ray guided procedure was tested under clinical conditions. Results show that the proposed CDPR-based needle insertion robot can be an alternative to an X-ray image-guided needle insertion robot system reducing complications and radiation exposure for clinicians.