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Mechanism Design, Optimization, and Experimental Validation of an Ultrasound-Guided Series-Parallel Hybrid Robot for Prostate Transperineal Puncture

Haiyuan Li, Yanbo Li, Yuchen Liu, Tian He, Yilun Shi. Mechanism Design, Optimization, and Experimental Validation of an Ultrasound-Guided Series-Parallel Hybrid Robot for Prostate Transperineal Puncture. In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2025, Hangzhou, China, October 19-25, 2025. pages 5855-5862, IEEE, 2025. [doi]

Authors

Haiyuan Li

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Yanbo Li

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Yuchen Liu

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Tian He

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Yilun Shi

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