Optimal synthesis of a spherical parallel mechanism for medical application

T. Essomba, M. A. Laribi, S. Zeghloul, G. Poisson

Research output: Contribution to journalArticlepeer-review

15 Scopus citations


This paper introduces the design and the optimization of a probe holder robot for tele-echography applications. To define its kinematic architecture, an approach based on motion capture of an expert's gestures during ultrasound examinations was proposed. The medical gestures analyzed consisted of ultrasound probe movements and were used to characterize the kinematic specifications of the proposed manipulator. The selected architecture was a Spherical Parallel Mechanism (SPM) with 3 degrees of freedom (DoF) and its optimal synthesis was performed using real-coded Genetic Algorithms (GA). The optimization criteria and constraints were established thanks to the collaboration of medical experts and were successively formulated and solved using mono-objective and multi-objective functions.

Original languageEnglish
Pages (from-to)671-686
Number of pages16
Issue number3
StatePublished - 1 Mar 2016


  • Design
  • Medical robot
  • Optimal synthesis
  • Optimization
  • Parallel manipulators


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