Title :
Modeling and geometrical validation of a tele-echography robot
Author :
Nouaille, L. ; Smith-Guérin, N. ; Poisson, G.
Author_Institution :
Inst. PRISME, Univ. of Orleans, Orleans
Abstract :
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.
Keywords :
medical robotics; optimisation; probes; robot kinematics; geometrical validation; kinematic structure; medical gestures; optimal geometric parameters; optimization; teleechography robot; ultrasound probe; Biomedical imaging; Jacobian matrices; Kinematics; Probes; Robot kinematics; Robots; Skin;
Conference_Titel :
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location :
Nice
Print_ISBN :
978-1-4244-2057-5
DOI :
10.1109/IROS.2008.4650901