Process of optimisation for a 4 DOF tele-echography robot

被引：16

作者：

Nouaille, L. ^{[1
]}

Vieyres, P. ^{[1
]}

Poisson, G. ^{[1
]}

机构：

[1] Univ Orleans, PRISME Lab, F-18020 Bourges, France

来源：

ROBOTICA | 2012年 / 30卷

关键词：

Surgical robots; Serial manipulator design and kinematics; Design; Mechatronic systems; Novel applications of robotics; DESIGN;

D O I：

10.1017/S0263574711001305

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper deals with processes of optimisation for the design of a four degree-of-freedom robot dedicated to remote ultrasound tele-echography. This robot is designed to track the medical gestures of a remote expert moving an ultrasound probe. The goal is to optimise the kinematic structure by fixing the geometric parameters; these have a significant role in robot configuration singularities, with respect to current medical gestures and mechanism compactness. After choosing a dedicated kinematic structure, several optimisations are presented. Then an optimal choice of geometrical parameters of a global function in relation with kinematic performance indices and compactness is proposed. This robot is soon to be used in the experimental medical phase of the Prosit project.

引用

页码：1131 / 1145

页数：15

共 45 条

[1]

Al Bassit L., 2005, THESIS ORLEANS U ORL

[2] Topology optimisation and singularity analysis of a 3-SPS parallel manipulator with a passive constraining spherical joint [J].