Modeling and geometrical validation of a tele-echography robot

Laurence Nouaille (1) , Natalie Smith-Guérin (1) , Gérard Poisson (2)

1 PRISME - Laboratoire Pluridisciplinaire de Recherche en Ingénierie des Systèmes, Mécanique et Energétique
2 IRAUS - Département Images, Robotique, Automatique et Signal [Orléans]

This work deals with modeling for the design of a four degree-of-freedom robot dedicated to tele-echography. It is designed to follow the medical gestures of a remote expert moving an ultrasound probe. The goal is to define the kinematic structure with optimal geometric parameters. These parameters have an important role in the robot singularities positions corresponding to the most current medical gestures. In this paper, we propose a value of these parameters validated by the kinematic indices point of view and an optimization.

Domaines: Automatique / Robotique

Laurence Nouaille, Natalie Smith-Guérin, Gérard Poisson. Modeling and geometrical validation of a tele-echography robot. International Conference on Intelligent Robots and Systems, IROS 2008 IEEE/RSJ, Sep 2008, Nice, France. pp.1447 - 1452, ⟨10.1109/IROS.2008.4650901⟩. ⟨hal-00647570⟩