Spherical wrist dimensional synthesis adapted for tool-guidance medical robots

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題名:	Spherical wrist dimensional synthesis adapted for tool-guidance medical robots
作者:	伊泰龍;Essomba, T.;Nouaille, L.;Laribi, Med Amine;Nelson, C.A.;Zeghloul, S.;Poisson, G.
貢獻者:	工學院機械工程學系
關鍵詞:	Automatic;dimensional synthesis;Engineering Sciences;optimization;spherical parallel manipulator;spherical serial robot;Tool-guidance medical robot
日期:	2014-01-01
上傳時間:	2026-04-23 15:28:06 (UTC+8)
出版者:	EDP Sciences;Villeurbanne: EDP Sciences
摘要:	摘要： The objective of this article is to present the dimensional synthesis of serial and parallel spherical wrists, an important step in the design process of medical robots. This step is carried out to obtain optimal dimensions of tool-guidance medical robots. With this goal, we have first studied the specifications of two robots with different medical applications: one for tele-echography examination and one for minimally invasive surgery. Then, we have established that the medical needs expressed by the doctors were very different but the specifications in robotic terms have a lot of common points (kinematics, workspace, bulkiness). For both applications studied, robots need a mobility of three rotations around a fixed point (probe contact point on the patient’s skin or trocar incision). So, a spherical wrist architecture is adapted to their needs. An important constraint related to medical applications is that the robot must be compact in order to not obstruct or collide with its environment (medical personnel or patient). We perform dimensional synthesis allowing determination of dimensions of the mechanism for serial and parallel spherical wrists, for a tele-echography robot, and a serial wrist for a minimally invasive surgery robot. We use multi-criteria optimization methods minimizing a cost function to obtain both good kinematic performance and compactness for the architecture. The difficulty/challenge of this design process, depending of the studied applications, is the choice of efficient criteria describing the performances and the constraints of the robot. The design variables must faithfully represent the specifications of the robot so that its performance can respond to the medical requirements. We show, here, the different methods used for optimizing the chosen kinematic architecture for the particular medical application. These studies lead to prototypes which are validated after medical experiments. This process of dimensional synthesis will be applied to other medical applications with different sets of specified constraints. 出版者： Villeurbanne: EDP Sciences 出版日期： 2014-01-01 出處： Mechanics & industry : an international journal on mechanical sciences and engineering applications, 2014-01, Vol.15 (3), p.217-223 資源來源： Alma/SFX Local Collection 版權： AFM, EDP Sciences 2014 版權： licence_http://creativecommons.org/publicdomain/zero 識別號： ISSN: 2257-7777 識別號： ISSN: 2257-7750 識別號： EISSN: 2257-7750 識別號： DOI: 10.1051/meca/2014022
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