Optimal synthesis of a spherical parallel mechanism for medical application

Terence Essomba (1, 2) , Med Amine Laribi (1) , Said Zeghloul (1) , Gérard Poisson (2)

1 RoBioSS - Robotique, Biomécanique, Sport, Santé [Institut Pprime]
2 PRISME - Laboratoire Pluridisciplinaire de Recherche en Ingénierie des Systèmes, Mécanique et Energétique

This paper introduces the design and the optimization of a probe holder robot for tele-echography applications. To define its kinematic architecture, an approach based on motion capture of an expert's gestures during ultrasound examinations was proposed. The medical gestures analyzed consisted of ultrasound probe movements and were used to characterize the kinematic specifications of the proposed manipulator. The selected architecture was a Spherical Parallel Mechanism (SPM) with 3 degrees of freedom (DoF) and its optimal synthesis was performed using real-coded Genetic Algorithms (GA). The optimization criteria and constraints were established thanks to the collaboration of medical experts and were successively formulated and solved using mono-objective and multi-objective functions.

Mots clés: Design; Parallel manipulators; Optimal synthesis; Optimization; Medical robot

Domaines: Automatique / Robotique

Terence Essomba, Med Amine Laribi, Said Zeghloul, Gérard Poisson. Optimal synthesis of a spherical parallel mechanism for medical application. Robotica, 2016, 34 (3), p. 671-686. ⟨10.1017/S0263574714001805⟩. ⟨hal-01069213⟩