DocumentCode :
3093473
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
fYear :
2008
fDate :
22-26 Sept. 2008
Firstpage :
1447
Lastpage :
1452
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;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location :
Nice
Print_ISBN :
978-1-4244-2057-5
Type :
conf
DOI :
10.1109/IROS.2008.4650901
Filename :
4650901
Link To Document :
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