PARALLEL ROBOT FOR LAPAROSCOPIC TREATMENT OF LIVER CANCER

The invention relates to a parallel robot for laparoscopic treatment of unresectable liver tumors. According to the invention, the robot consists of two robotic modules (3 and 4) for guiding a hepatic ultrasound probe and for guiding a treatment needle, respectively each module having five mobility degrees and being placed on an aluminium frame (2) fixed on the patient's bed, where the first robotic module (3) consists of two parallel mechanisms (5 and 6), the first mechanism (5) having three mobility degrees and being used for positioning a hepatic ultrasound probe (7), the probe (7) being vertically positioned by actuating a gearmotor (9), the second mechanism (6) being a mechanism for orienting the hepatic ultrasound probe (7), the actuation being performed by means of some gearmotors (33 and 35), the second robotic module (4) consists of two parallel mechanisms (48 and 49), the first mechanism (48) having three mobility degrees and being used for positioning a treatment needle (50), the needle (50) being vertically positioned by actuating a gearmotor (77), the second mechanism (49) representing a mechanism for orienting the treatment delivery needle (50), the actuation being performed by means of some gearmotors (81 and 82).