Optimization of a 4 dof tele-echography robot

This paper deals with the optimization of the design of a 4 degree-of-freedom robot dedicated to tele-echography. It has been designed to reproduce in real time on a patient, the medical gestures performed by a remote expert moving a fictive probe. Our goal is to optimize the kinematic structure to determine geometrical parameters, as they have a significant role in the singularities localization. In this paper, we propose optimum solutions obtained from a combination of kinematic performances and compactness indices.

[1]  Lama Al Bassit.  Structures mécaniques à modules sphériques optimisées pour un robot médical de télé-échographie mobile , 2005 .

[2]  Jorge Angeles,et al.  A Formulation of Complexity-Based Rules for the Preliminary Design Stage of Robotic Architectures , 2007 .

[3]  Mamoru Mitsuishi,et al.  Remote ultrasound diagnostic system , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[4]  Frank Chongwoo Park,et al.  Performance Evaluation and Design Criteria , 2008, Springer Handbook of Robotics.

[6]  G. Poisson,et al.  Fetal tele‐echography using a robotic arm and a satellite link , 2005, Ultrasound in obstetrics & gynecology : the official journal of the International Society of Ultrasound in Obstetrics and Gynecology.

[7]  G. Poisson,et al.  Use of a robotic arm to perform remote abdominal telesonography. , 2007, AJR. American journal of roentgenology.

[8]  Bertrand Tondu,et al.  TER: A System for Robotic Tele-echography , 2001, MICCAI.

[9]  李幼升,et al.  Ph , 1989 .

[10]  Blake Hannaford,et al.  Optimization of a spherical mechanism for a minimally invasive surgical robot: theoretical and experimental approaches , 2006, IEEE Transactions on Biomedical Engineering.

[11]  Zafer Bingul,et al.  Comparative study of performance indices for fundamental robot manipulators , 2006, Robotics Auton. Syst..

[12]  Clément Gosselin,et al.  A Global Performance Index for the Kinematic Optimization of Robotic Manipulators , 1991 .

[13]  Natalie Smith-Guerin,et al.  Modeling and geometrical validation of a tele-echography robot , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[14]  Eizen Kimura,et al.  Three dimensional motion mechanism of ultrasound probe and its application for tele-echography system , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[15]  Wisama Khalil,et al.  A new geometric notation for open and closed-loop robots , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[16]  Nariman Sepehri,et al.  A novel hand-controller for remote ultrasound imaging , 2008 .

[17]  Tsuneo Yoshikawa,et al.  Manipulability of Robotic Mechanisms , 1985 .

[18]  P. Marche,et al.  A new robotic mechanism for medical application , 1999, 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (Cat. No.99TH8399).