Robotic guide for brain biopsy
Various robotic guides for a biopsy surgical tool are disclosed, of which one includes a main shaft, an end-effector mounted on a distal end of the main shaft, a roll/yaw actuating mechanism, a translational actuating mechanism, and a pitch actuating mechanism. Optionally, the roll/yaw actuating mechanism includes a first actuating mechanism and a second actuating mechanism. Roll movement or yaw movement of the main shaft is effectuated by combination of movements of the first actuating mechanism and the second actuating mechanism.
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Seyed Mohammad Javad Mohammad Farzam Saeed Mohammad Jalal Javad Amirhossein Alireza
Mortazavi ashkezari Akbar Farahmand Sarkar Sadeghi Hasani bidgoli Ahmadian Ahmadian