This paper proposes a new 6-DOF needle insertion manipulator, which has 3 DOF translational motion as well as 3 DOF rotational motion. This mechanism consists of a ring holder, a dumbbell-shaped bar, and six prismatic joints connecting the ring holder and the dumbbell-shaped bar. The dumbbell-shaped bar has the upper and lower plates at both ends. The proposed mechanism has a unique appearance in that the 3 chains originating from a circular ring are connected to the upper moving plate and the other chains are connected to the lower part. A needle is inserted into the middle of the dumbbell-shaped bar. In this paper, a 3D simulator for the needle insertion simulation is developed and the workspace and kinematic characteristics of this mechanism are analyzed.
