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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.
This paper deals with processes of optimisation for the design of a four degree-of-freedom robot dedicated to remote ultrasound tele-echography. This robot is designed to track the medical gestures of a remote expert moving an ultrasound probe. The goal is to optimise the kinematic structure by fixing the geometric parameters; these have a significant role in robot configuration singularities, with respect to current medical gestures and mechanism compactness. After choosing a dedicated kinematic structure, several optimisations are presented. Then an optimal choice of geometrical parameters of a global function in relation with kinematic performance indices and compactness is proposed. This robot is soon to be used in the experimental medical phase of the Prosit project.
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