PARALLEL ROBOT FOR BRACHYTHERAPY WITH TWO LINKAGES FOR GUIDING A PLATFORM OF CYL-U TYPE

摘要

The invention relates to a brachytherapy robot which carries out the positioning and the orientation of the end effector in the applications of minimally invasive treatment by brachytherapy of the cancers inoperable by classic approach. According to the invention, the robot is mounted on a frame () which is provided with some wheels () having an end effector () which carries a brachytherapy needle () and contains two modules () with three degrees of mobility for guiding the end effector () which performs the forward motion by a screw-nut system and by their combined motion they ensure the five degrees of mobility necessary for positioning and orienting the brachytherapy needle.