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This paper investigates a delta robot solution for improving the accuracy of the prostate brachytherapy procedure by proposing a compact and lightweight robot. In addition, the design was thought as a comanipulated robot for a better acceptability and human\u2013machine interaction. The robot kinematics and singularities were determined and the theoretical capability in term of resolution and force feedback was evaluated. A prototype was built in order to experimentally measure the capability of this first prototype.<\/jats:p>","DOI":"10.1017\/s026357472000051x","type":"journal-article","created":{"date-parts":[[2020,6,22]],"date-time":"2020-06-22T07:33:06Z","timestamp":1592811186000},"page":"468-482","source":"Crossref","is-referenced-by-count":2,"title":["Design and Kinematics of a Comanipulated Robot Dedicated to Prostate Brachytherapy"],"prefix":"10.1017","volume":"39","author":[{"given":"Mozert","family":"Djohossou","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Aziza","family":"Ben Halima","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Antoine","family":"Val\u00e9rie","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2756-942X","authenticated-orcid":false,"given":"Julien","family":"Bert","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dimitris","family":"Visvikis","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2020,6,22]]},"reference":[{"key":"S026357472000051X_ref17","unstructured":"[17] http:\/\/www.cnrs.fr\/lettre-innovation\/actus.php?numero=341."},{"key":"S026357472000051X_ref31","unstructured":"[31] http:\/\/graphics.cs.msu.ru\/en\/node\/909."},{"key":"S026357472000051X_ref1","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.10"},{"key":"S026357472000051X_ref27","unstructured":"[27] www.onshape.com."},{"key":"S026357472000051X_ref4","doi-asserted-by":"publisher","DOI":"10.1016\/S0009-9260(81)80239-5"},{"key":"S026357472000051X_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2004.1307177"},{"key":"S026357472000051X_ref2","doi-asserted-by":"publisher","DOI":"10.1016\/j.prnil.2015.03.007"},{"key":"S026357472000051X_ref24","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-23244-2_54"},{"key":"S026357472000051X_ref22","doi-asserted-by":"publisher","DOI":"10.1227\/NEU.0b013e318273a1a3"},{"key":"S026357472000051X_ref5","unstructured":"[5] Elliott, D. , Berkey, J. and Hoedeman, G. , \u201cAutomated implantation system for radioisotopeseeds,\u201d U.S. patent 6869390 B2, 22 March 2005."},{"key":"S026357472000051X_ref12","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.363055"},{"key":"S026357472000051X_ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2005.848300"},{"key":"S026357472000051X_ref19","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijrobp.2015.02.043"},{"key":"S026357472000051X_ref29","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140698"},{"key":"S026357472000051X_ref25","doi-asserted-by":"publisher","DOI":"10.1109\/70.56660"},{"key":"S026357472000051X_ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543662"},{"key":"S026357472000051X_ref18","doi-asserted-by":"publisher","DOI":"10.1118\/1.4895013"},{"key":"S026357472000051X_ref8","first-page":"17","volume-title":"3D TRUS Guided Robot Assisted Prostate Brachytherapy,","author":"Wei","year":"2005"},{"key":"S026357472000051X_ref16","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2014.07.005"},{"key":"S026357472000051X_ref11","doi-asserted-by":"publisher","DOI":"10.1118\/1.1997674"},{"volume-title":"Modeling and Simulation for Automatic Control,","year":"2002","author":"Egeland","key":"S026357472000051X_ref30"},{"key":"S026357472000051X_ref3","doi-asserted-by":"publisher","DOI":"10.1016\/j.urology.2015.07.010"},{"key":"S026357472000051X_ref10","unstructured":"[10] Phee, L. , Xiao, D. , Yuen, J. , Chan, C. 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