Kinematic Optimization of a Reconfigurable Spherical Parallel Mechanism for Robotic-Assisted Craniotomy

2019 ◽  
Vol 11 (6) ◽  
Author(s):  
Terence Essomba ◽  
Yang Hsu ◽  
Juan Sebastian Sandoval Arevalo ◽  
Med Amine Laribi ◽  
Said Zeghloul
Keyword(s):  
Motion Capture ◽  
Parallel Mechanism ◽  
Medical Application ◽  
Kinematic Data ◽  
Robotic Assisted ◽  
Motion Trajectories ◽  
Spherical Parallel Mechanism ◽  
Human Cadavers ◽  
New Type ◽  
Kinematic Optimization

Abstract The craniotomy is a surgical task that is required to allow access to the patient's brain. It consists of using neurosurgical drills to open a path through the skull. The high risk resulting from human dexterous limit justifies the use of an accurate robotic system to perform craniotomy. The present work introduces the kinematic design of a mechanism for a robotic manipulator dedicated to craniotomy. Motion capture experiments have been carried out to measure the motion of a surgical drill during the execution of craniotomy on human cadavers. The results of the experiments are discussed. As this medical application requires a remote center of motion (RCM), a new type of 3-RRR spherical parallel mechanism (SPM) is proposed to manipulate the surgical drill. The novelty of this mechanism is the integration of a reconfigurable base that re-orients the first revolute joint of the RRR legs. A mechanical architecture concept is introduced to implement this reconfiguration. It is made of three pantographic linkages that manipulate the base of the SPM. The kinematics of the new mechanism is analyzed. The influence of this reconfigurable parameter is studied on two different aspects: the mechanism workspace and kinematic performances. Based on these kinematic data, the optimization of a mechanism is performed. The drill motion trajectories are used to evaluate the behavior of the optimized mechanism. It is finally compared to the classical SPM with a trihedral base, showing the contribution of the new reconfiguration variable on the mechanism dexterity.

Optimal synthesis of a spherical parallel mechanism for medical application

Robotica ◽  
2014 ◽  
Vol 34 (3) ◽  
pp. 671-686 ◽  
Author(s):  
T. Essomba ◽  
M. A. Laribi ◽  
S. Zeghloul ◽  
G. Poisson
Keyword(s):  
Motion Capture ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Medical Application ◽  
Optimal Synthesis ◽  
Objective Functions ◽  
Ultrasound Probe ◽  
Spherical Parallel Mechanism ◽  
Real Coded Genetic Algorithms ◽  
Probe Holder

SUMMARYThis 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.

Optimal Synthesis of a New Spherical Parallel Mechanism for Application to Tele-Echography Chain

2011 ◽  
Author(s):  
M. A. Laribi ◽  
T. Essomba ◽  
S. Zeghloul ◽  
G. Poisson
Keyword(s):  
Motion Capture ◽  
Parallel Mechanism ◽  
Parallel Manipulators ◽  
Optimal Synthesis ◽  
Design Parameters ◽  
Geometrical Parameters ◽  
Real Coded Genetic Algorithm ◽  
Spherical Parallel Mechanism ◽  
Definition Of ◽  
Independent Design

This paper considers the practice of a tele-echography through a new slave holder robot for a remote echographic diagnostic application. This robot is integrated in a master-slave system called ‘Robotic Platform for an Interactive Tele-echographic System’ (PROSIT ANR French national project). The proposed approach is based on motion capture of an expert’s gestures during the echography examination. The medical gestures were analyzed in terms of positions and velocities; the result has been used in the definition of the kinematics specifications of the proposed manipulator. The effective workspace size of a standard echography act, done by the medical expert, is determined through an experimental study. The evaluation of the workspace is based on the use of the Vicon Nexus motion capture system. The spherical parallel mechanism (SPM) has been selected because of its characteristics meeting the constraint requirements. In addition this architecture offers an excellent stiffness, high precision and is light weight. The design problem of a new parallel probe-holder robot according to the identified experimental workspace for the tele-echography system is presented. In this work, in order to increase the workspace volume of the manipulator, a minimal set of geometrical parameters of spherical parallel manipulators are optimized to find the maximum workspace. Seven independent design parameters have been identified. The optimal synthesis of spherical parallel manipulators is performed using a real-coded genetic algorithm (GA) based method. An optimal study of the orientation workspace is also presented.

scholarly journals Torque Reduction of a Reconfigurable Spherical Parallel Mechanism Based on Craniotomy Experimental Data

2021 ◽  
Vol 11 (14) ◽  
pp. 6534
Author(s):  
Terence Essomba ◽  
Juan Sandoval ◽  
Med Amine Laribi ◽  
Chieh-Tsai Wu ◽  
Cyril Breque ◽  
...  
Keyword(s):  
Motion Capture ◽  
Parallel Mechanism ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Human Cadaver ◽  
Drilling Tool ◽  
Force Interaction ◽  
Spherical Parallel Mechanism ◽  
Angle Modulation ◽  
Spherical Parallel Manipulator

This paper deals with a robotic manipulator dedicated to craniotomy with a remote center of motion based on a Spherical Parallel Manipulator (SPM) architecture. The SPM is proposed to handle the drilling tool through the requested craniotomy Degrees of Freedom (DoF) with two rotations. The proposed architecture allows one degree of redundancy according to the total DoF. Thus, a first contribution of this work focuses on the experimental analysis of craniotomy surgery tasks. Secondly, its behavior is improved, taking advantage of the redundancy of the SPM using the spinning motion as a reconfiguration variable. The spinning angle modulation allows the reconfigurable manipulator to minimize its motor torques. A series of motion capture and force experimentations is performed for the analysis of the kinematic and force interaction characterizing Burr hole craniotomy procedures. Experimentations were carried out by a neurosurgeon on a human cadaver, ensuring highly realistic conditions.

Inverse dynamics and servomotor parameter estimation of a 2-DOF spherical parallel mechanism

2008 ◽  
Vol 51 (3) ◽  
pp. 288-301 ◽  
Author(s):  
HaiTao Liu ◽  
JiangPing Mei ◽  
XueMan Zhao ◽  
Tian Huang ◽  
D. G. Chetwynd
Keyword(s):  
Parameter Estimation ◽  
Parallel Mechanism ◽  
Inverse Dynamics ◽  
Spherical Parallel Mechanism

Lumbar Hyperextension in Baseball Pitching: A Potential Cause of Spondylolysis

2018 ◽  
Vol 34 (6) ◽  
pp. 429-434 ◽  
Author(s):  
Hardeep Singh ◽  
Mark Lee ◽  
Matthew J. Solomito ◽  
Christian Merrill ◽  
Carl Nissen
Keyword(s):  
Motion Capture ◽  
Glenohumeral Joint ◽  
External Rotation ◽  
Age Groups ◽  
Motion Capture System ◽  
Kinematic Data ◽  
Pelvic Motion ◽  
The Difference ◽  
Lumbar Extension ◽  
Upper Thoracic

Symptomatic spondylolysis/spondylolisthesis is thought to be caused by repetitive lumbar extension. About 8.9% of baseball pitchers that experience back pain will be diagnosed with spondylolysis. Therefore, this study aims to identify and quantify lumbar extension experienced during baseball pitching. It was hypothesized that young pitchers would exhibit less lumbar extension than older pitchers. A total of 187 healthy pitchers were divided into 3 age groups: youth, adolescent, and college. Kinematic data were collected at 250 Hz using a 3-D motion capture system. Lumbar motion was calculated as the difference between upper thoracic motion and pelvic motion over the pitching cycle. Lumbar “hyperextension” was defined as ≥20° past neutral. College pitchers had significantly greater lumbar extension compared with youth and adolescent pitchers at the point of maximum external rotation of the glenohumeral joint during the pitch cycle (−25° [13°], P = .04). For all age groups, lumbar hyperextension was present during the first 66% of the pitch cycle. Most pitchers spent 45% of pitch cycle in ≥30° of lumbar extension. Understanding that lumbar extension and hyperextension are components of the complex, multiplanar motions of the spine associated with baseball pitching can potentially help in both the prevention and management of symptomatic spondylolysis/spondylolisthesis.

Simulation of a Pole Saw Assisted by a Gyroscopic Effect Device

2021 ◽  
Author(s):  
Eduardo P. Okabe ◽  
Daniel L. Miletto ◽  
Milton S. Misuta ◽  
José Luiz P. Brittes
Keyword(s):  
Motion Capture ◽  
Musculoskeletal Injury ◽  
Work Efficiency ◽  
Kinematic Data ◽  
Overhead Lines ◽  
Quality Of Work ◽  
Dynamic Forces ◽  
Direct Cutting ◽  
Robotic Tools

Abstract Linemen performing pruning activity on vegetation entangled with overhead lines and handling a pole saw is a physically strenuous and risky job. It is a major cause of linemen musculoskeletal disorders (MSD) and others injuries, with more than one type of accumulative musculoskeletal injury like backbone, shoulder, neck and wrists. Although assisted robotic tools could reduce ergonomic issues, it also impairs the quality of work; efficiency and quality require human direct cutting due to a huge imponderability of each particular action on each particular job due different kind of vegetation and shapes. The best approach should be to aid linemen handling the pole saw during pruning. So, as a first step to develop and implement a gyroscopic platform for pruning pole saw, this paper compares and presents a simulation of a regular pole saw with a pole saw assisted by a gyroscopic device using kinematic data obtained by the motion capture system. Kinematic data obtained connects to dynamic simulation, which makes available pole saw control and kickback analysis. Simulation outcome shows that gyroscopic assistance on pole saw has great potential to mitigate harmful pruning dynamic forces for lineman, with no impact on productivity and work quality.

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