Optimization of a 4 dof tele-echography robot

Laurence Nouaille (1) , Natalie Smith-Guérin (1) , Gérard Poisson (2) , Philippe Arbeille (3, 4)

1 PRISME - Laboratoire Pluridisciplinaire de Recherche en Ingénierie des Systèmes, Mécanique et Energétique
2 IRAUS - Département Images, Robotique, Automatique et Signal [Orléans]
3 Nuclear Medicine and Ultrasonography [Tours]
4 UMPS - Unité Médecine et Physiologie Spatiale [Tours]

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.

Domaines: Automatique / Robotique

Laurence Nouaille, Natalie Smith-Guérin, Gérard Poisson, Philippe Arbeille. Optimization of a 4 dof tele-echography robot. International Conference on Intelligent Robots and Systems (IROS), Oct 2010, Taipei, Taiwan. pp.3501 - 3506, ⟨10.1109/IROS.2010.5649680⟩. ⟨hal-00647560⟩