Title :
Optimization of a 4 dof tele-echography robot
Author :
Nouaille, L. ; Smith-Guérin, N. ; Poisson, G. ; Arbeille, P.
Author_Institution :
PRISME Inst., Univ. of Orleans, Orleans, France
Abstract :
This paper deals with the optimization of the design of a 4 degree-of-freedom robot dedicated to tele-echography. It has been designed to reproduce in real time on a patient, the medical gestures performed by a remote expert moving a fictive probe. Our goal is to optimize the kinematic structure to determine geometrical parameters, as they have a significant role in the singularities localization. In this paper, we propose optimum solutions obtained from a combination of kinematic performances and compactness indices.
Keywords :
biomedical imaging; gesture recognition; medical robotics; optimisation; robot kinematics; telerobotics; 4 degree-of-freedom robot; 4 dof teleechography robot Optimization; medical gesture; remote expert; robot kinematics;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-6674-0
DOI :
10.1109/IROS.2010.5649680
