Optimal synthesis of a spherical parallel mechanism for medical application

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

研究成果: 雜誌貢獻期刊論文同行評審

21 引文 斯高帕斯(Scopus)

摘要

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.

原文???core.languages.en_GB???
頁(從 - 到)671-686
頁數16
期刊Robotica
34
發行號3
DOIs
出版狀態已出版 - 1 3月 2016

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