Kinematics Study for Linkage System (Parallel Robotics System): linkage system of patient positioning system PPS to accurately position a human body for radiosurgery treatment

Abstract

This study presents a comprehensive kinematic analysis of a subsystem for a novel patient positioning system (PPS) aimed at accurately positioning a human body for radiosurgery treatment. The linkage system, which forms the core of the PPS, comprises four linkage arms, three of which are active and one passive, responsible for the rotation, translation, and inclination of the end point. The design of the robotic linkage was performed using both Forward Kinematics (FK) and Inverse Kinematics (IK) methods. The position problem of the robotic linkage was resolved through a kinematic modeling process. The performance of the modeled system was validated through experimentation using MATLAB. The results of the experimental validation indicate an ultra-high level of accuracy for the kinematic model.