Design process of a robotized tele-echography system

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

研究成果: 書貢獻/報告類型會議論文篇章同行評審

11 引文 斯高帕斯(Scopus)

摘要

This paper deals with the design process of a particular mechatronic system: a teleechography robot. First, we describe the principle of robotized tele-echography and the prototypes already designed. Then, after having chosen the design process, we show two medical gestures analysis performed to define the required specifications of a tele-echography robot. Several kinematic synthesis allow demonstrating that the serial spherical wrist is the most adapted structure to this medical application. The kinematic performance of this structure is limited by the singularity position located at the centre of the workspace. An inclined spherical wrist structure is proposed to displace the singularity position in a less used workspace zone that the normal direction to the patient's skin. In the dimensional synthesis phase, this structure is optimized. Then, a collaborative design study with designers is presented to improve aesthetic and ergonomic of the robot. This step was very interesting because it brought innovative propositions. Finally, a detailed phase allows defining the PROSIT 1 robot. It was manufactured and will be soon tested in clinical environment.

原文???core.languages.en_GB???
主出版物標題Mechanisms, Mechanical Transmissions and Robotics
頁面384-393
頁數10
DOIs
出版狀態已出版 - 2012
事件Joint International Conference of the XI International Conference on Mechanisms and Mechanical Transmissions, MTM and the International Conference on Robotics, Robotics'12 - Clermont-Ferrand, France
持續時間: 6 6月 20128 6月 2012

出版系列

名字Applied Mechanics and Materials
162
ISSN(列印)1660-9336
ISSN(電子)1662-7482

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???event.eventtypes.event.conference???Joint International Conference of the XI International Conference on Mechanisms and Mechanical Transmissions, MTM and the International Conference on Robotics, Robotics'12
國家/地區France
城市Clermont-Ferrand
期間6/06/128/06/12

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