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.

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.

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.

Design of spherical parallel mechanisms for application to laparoscopic surgery

Robotica ◽  
2002 ◽  
Vol 20 (2) ◽  
pp. 133-138 ◽  
Author(s):  
Temei Li ◽  
Shahram Payandeh
Keyword(s):  
Laparoscopic Surgery ◽  
Parallel Mechanism ◽  
Training System ◽  
Design Parameters ◽  
Parallel Mechanisms ◽  
Optimal Parameters ◽  
Spherical Parallel Mechanism ◽  
Spherical Parallel Manipulator ◽  
Additional Constraints ◽  
Solve Design Problem

This paper addresses an optimal study of workspace for spherical parallel mechanism for laparoscopic surgery. The spherical parallel manipulator has been selected because of its characteristics. Two designs have been studied for maximizing their workspaces; a haptic device, as part of training system, and a laparoscope holding mechanism. The laparoscope holding mechanism has to satisfy additional constraints by minimizing the occupied space above the patient. The objective is to solve design problem to offer the maximal workspace for such mechanisms. The design of a haptic interface and the laparoscope holding mechanism based on the optimal parameters are presented. This paper presents a Genetic Algorithm (GA) approach for selecting optimal design parameters for maximizing workspace of spherical parallel mechanism.

Design and Optimization of a Master-Slave System for Tele-Echography Application

2012 ◽  
Author(s):  
T. Essomba ◽  
M. A. Laribi ◽  
J. P. Gazeau ◽  
G. Poisson ◽  
S. Zeghloul
Keyword(s):  
Motion Capture ◽  
Inertial Measurement Unit ◽  
Control Device ◽  
Measurement Unit ◽  
Motion Capture System ◽  
Design And Optimization ◽  
Real Coded Genetic Algorithm ◽  
Spherical Parallel Mechanism ◽  
Real Patients ◽  
Master Control

This paper introduces the research carried out on the design of a robotized teleechography system. Such a system is composed of a master control device and a slave robotic manipulator. Our objective is to contribute to the French Agence National de Recherche (ANR) project PROSIT by designing both devices. To define the kinematic architecture, we had proposed an approach based on the analysis of the expert gesture as a first step of the design process. We have used a motion capture system to study the ultrasound examination gesture and to define the kinematic specifications for the proposed manipulator. A new kind of architecture was selected: the spherical parallel mechanism (SPM). We have chosen it because it reaches the constraint requirements. The kinematic architecture was synthesized by executing a real-coded genetic algorithm (GA). We integrated optimization criteria in the synthesis of the selected architecture. We have fixed a minimum required workspace and we have chosen to optimized the SPM in terms of dexterity and compacity. Another important part of our research was to design a haptic device to provide a very intuitive control of the tele-operated robot. We have opted for a free hand interface that integrates an active force control and feedback. An Inertial Measurement Unit (IMU) has been integrated. The data collected from the IMU that we integrated are processed by a Kalman Filter. But we have modified this predictor-estimator tool from the state of art to adapt its behavior with respect to the type of motion done by the operator. Experimentations via our motion capture system have demonstrated the accuracy of this orientation control strategy. The final step will be the experimental and clinical validation on real patients.

Topological Synthesis of Fully Decoupled Parallel Manipulators by Screw Formulation of Jacobian Matrix

2011 ◽  
Vol 189-193 ◽  
pp. 1409-1412
Author(s):  
Fan Zhang ◽  
Ze Bin Zhou ◽  
Jian Guo Yang
Keyword(s):  
Parallel Mechanism ◽  
Jacobian Matrix ◽  
Parallel Manipulators ◽  
Parallel Mechanisms ◽  
Spherical Parallel Mechanism ◽  
Topological Synthesis

A family of spherical parallel mechanisms which have fully decoupled motions is presented in this paper. The condition required for synthesizing the fully decoupled parallel mechanism is derived from the screw formulation of Jacobian matrix. According to this condition, several novel decoupled spherical parallel mechanisms are obtained. The decoupled motions are validated by the simulation of the prototype of spherical parallel mechanism.

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.

Development and Adoption of Early AASHO Design Criteria

1998 ◽  
Vol 1612 (1) ◽  
pp. 26-33 ◽  
Author(s):  
Jerome Hall ◽  
Daniel Turner
Keyword(s):  
Design Parameters ◽  
Design Criteria ◽  
Adoption Process ◽  
Horizontal Curve ◽  
Highway Design ◽  
Initial Development ◽  
Design Processes ◽  
Blue Book ◽  
Curve Design ◽  
Independent Design

The conception, development, and adoption of early AASHO highway design criteria are documented. Examining the early efforts states used to select a design vehicle and develop horizontal curve design criteria illustrates why AASHO’s leadership was necessary. AASHO’s slow and somewhat haphazard criteria development, and the disparity from state to state, demonstrated the need for a national consensus in highway design parameters. AASHO’s role in providing these criteria is outlined through its initial development of policy booklets, followed by its 1954 publication of the landmark Blue Book. The processes by which nine states adopted the AASHO guidance are briefly reviewed. In several cases, the AASHO policy was embraced immediately, and in others it was accepted slowly as states clung to their independent design processes and only gradually updated their design criteria. A few simple conclusions are drawn about the development and adoption process, particularly as it may relate to tomorrow’s highway design criteria.

scholarly journals A Two-Round Optimization Design Method for Aerostatic Spindles Considering the Fluid–Structure Interaction Effect

2021 ◽  
Vol 11 (7) ◽  
pp. 3017
Author(s):  
Qiang Gao ◽  
Siyu Gao ◽  
Lihua Lu ◽  
Min Zhu ◽  
Feihu Zhang
Keyword(s):  
Optimal Design ◽  
Optimization Design ◽  
Design Method ◽  
Fluid Structure Interaction ◽  
Design Procedure ◽  
Design Parameters ◽  
Geometrical Parameters ◽  
Fluid Structure ◽  
Structure Interaction ◽  
Aerostatic Spindle

The fluid–structure interaction (FSI) effect has a significant impact on the static and dynamic performance of aerostatic spindles, which should be fully considered when developing a new product. To enhance the overall performance of aerostatic spindles, a two-round optimization design method for aerostatic spindles considering the FSI effect is proposed in this article. An aerostatic spindle is optimized to elaborate the design procedure of the proposed method. In the first-round design, the geometrical parameters of the aerostatic bearing were optimized to improve its stiffness. Then, the key structural dimension of the aerostatic spindle is optimized in the second-round design to improve the natural frequency of the spindle. Finally, optimal design parameters are acquired and experimentally verified. This research guides the optimal design of aerostatic spindles considering the FSI effect.

scholarly journals CONCEPTUAL DESIGN FOR ASSEMBLY IN AEROSPACE INDUSTRY: SENSITIVITY ANALYSIS OF MATHEMATICAL FRAMEWORK AND DESIGN PARAMETERS

2021 ◽  
Vol 1 ◽  
pp. 731-740
Author(s):  
Giovanni Formentini ◽  
Claudio Favi ◽  
Claude Cuiller ◽  
Pierre-Eric Dereux ◽  
Francois Bouissiere ◽  
...  
Keyword(s):  
Sensitivity Analysis ◽  
Conceptual Design ◽  
Design Parameters ◽  
Design For Assembly ◽  
Mathematical Framework ◽  
Commercial Aircraft ◽  
System Architectures ◽  
Complex Engineering ◽  
Aircraft System ◽  
Definition Of

AbstractOne of the most challenging activity in the engineering design process is the definition of a framework (model and parameters) for the characterization of specific processes such as installation and assembly. Aircraft system architectures are complex structures used to understand relation among elements (modules) inside an aircraft and its evaluation is one of the first activity since the conceptual design. The assessment of aircraft architectures, from the assembly perspective, requires parameter identification as well as the definition of the overall analysis framework (i.e., mathematical models, equations).The paper aims at the analysis of a mathematical framework (structure, equations and parameters) developed to assess the fit for assembly performances of aircraft system architectures by the mean of sensitivity analysis (One-Factor-At-Time method). The sensitivity analysis was performed on a complex engineering framework, i.e. the Conceptual Design for Assembly (CDfA) methodology, which is characterized by level, domains and attributes (parameters). A commercial aircraft cabin system was used as a case study to understand the use of different mathematical operators as well as the way to cluster attributes.

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