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Optimal synthesis of a spherical parallel mechanism for medical application

Published online by Cambridge University Press:  09 July 2014

T. Essomba
PRISME Laboratory, University of Orleans, 12, Rue de Blois, 45067 Orleans, France E-mails:, PPRIME Institute, GMSC Department, RoBioSS, CNRS, University of Poitiers, ENSMA, UPR 3346, France E-mails:
M. A. Laribi
PPRIME Institute, GMSC Department, RoBioSS, CNRS, University of Poitiers, ENSMA, UPR 3346, France E-mails:
S. Zeghloul*
PPRIME Institute, GMSC Department, RoBioSS, CNRS, University of Poitiers, ENSMA, UPR 3346, France E-mails:
G. Poisson
PRISME Laboratory, University of Orleans, 12, Rue de Blois, 45067 Orleans, France E-mails:,
*Corresponding author. E-mail:


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.

Copyright © Cambridge University Press 2014 

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