Contribution to the Improvement of the Medical Device SurgiScope

Sébastien Briot (1) , Cédric Baradat (2) , Sylvain Guegan (3) , Vigen Arakelian (4)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 Fatronik France
3 LGCGM - Laboratoire de Génie Civil et Génie Mécanique
4 DGMA - Département de Génie Mécanique et Automatique

This paper proposes a new solution to the problem of torque minimization of the medical device SurgiScope ® by connecting to the initial structure a secondary mechanical system, which generates a vertical constant force on the platform of the robotized device. The conditions for optimization are formulated by the minimization of the root-mean-square values of the input torques of the studied device. The positioning errors of the unbalanced and balanced robots are provided. A significant reduction of these errors is achieved by using the suggested balancing mechanism. The efficiency of the developed approach is illustrated by numerical simulations.

Domaines: Génie mécanique [physics.class-ph]; Génie mécanique [physics.class-ph]; Ingénierie biomédicale

Sébastien Briot, Cédric Baradat, Sylvain Guegan, Vigen Arakelian. Contribution to the Improvement of the Medical Device SurgiScope. 2007 ASME International Design Engineering Technical Conferences (DETC 2007), Sep 2007, Las Vegas, NV, United States. pp.653-661, ⟨10.1115/DETC2007-35067⟩. ⟨hal-00451933⟩