PARALLEL ROBOT FOR BRACHYTHERAPY WITH TWO PARALLEL MODULES, ONE FOR POSITIONING AND ONE FOR ORIENTATION

摘要

The invention relates to a robot with five degrees of mobility 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 a module for positioning () and a module for orientation (), and the structure uses two linkages for guiding a mobile platform () on which there is mounted the second orientation module (), namely the orientation one, which directs the brachytherapy needle ().