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Article Dans Une Revue Journal of Mechanisms and Robotics Année : 2018

On the Development of a New Master Device Used for Medical Tasks

Résumé

This paper discusses the design of a new spherical parallel manipulator (SPM), which is used as a master device for medical tasks. This device is obtained by changing the kinematics of a classic SPM to eliminate the singularity from the device's useful workspace. The kinematic models of the new device are studied. The geometric parameters of the new device are optimized to eliminate the singularity. A prototype of the new master device is presented. Experiments are carried out using the device which allowed the control of a surgical robot.
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hal-02291719 , version 1 (24-03-2024)

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Houssem Saafi, Med Amine Laribi, Said Zeghloul, Marc Arsicault. On the Development of a New Master Device Used for Medical Tasks. Journal of Mechanisms and Robotics, 2018, 10 (4), ⟨10.1115/1.4039590⟩. ⟨hal-02291719⟩
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