A NEW SERIAL COMMUNICATION PROTOCOL FOR THE CONTROL OF A MEDICAL PARALLEL ROBOT
Journal Title: ACTA TECHNICA NAPOCENSIS, Series: Applied Mathematics, Mechanics, and Engineering - Year 2016, Vol 59, Issue 0
Abstract
The paper presents a new serial communication protocol which is used in the control of a parallel robot for brachytherapy. For safety reasons, the control system has been designed according to a specific protocol which covers the therapeutic aspects and safety issues, mentioned by the oncologists. The robotic system, called BR-1, has 5 degrees of freedom and was developed in two configurations: BR-1R (with rotational passive joints) and BR-1T (with translational passive joints), each one used for different brachytherapy procedures.
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