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Journal of Healthcare Engineering
Volume 2017, Article ID 4264356, 9 pages
Research Article

Development of a Prototype Robotic System for Radiosurgery with Upper Hemispherical Workspace

Korea Atomic Energy Research Institute, Daejeon, Republic of Korea

Correspondence should be addressed to Sun Young Noh;

Received 20 January 2017; Revised 6 May 2017; Accepted 30 May 2017; Published 24 July 2017

Academic Editor: Qing Shi

Copyright © 2017 Sun Young Noh et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper introduces a specialized robotic system under development for radiosurgery using a small-sized linear accelerator. The robotic system is a 5-DOF manipulator that can be installed above a patient to make an upper hemispherical workspace centered in a target point. In order to determine the optimal lengths of the link, we consider the requirements for the workspace of a linear accelerator for radiosurgery. A more suitable kinematic structure than conventional industrial manipulators is proposed, and the kinematic analysis is also provided. A graphic simulator is implemented and used for dynamic analysis. Based on those results, a prototype manipulator and its control system are under development.