Contribution to the design of a robotized tele-ultrasound system
Identifieur interne : 002015 ( Main/Exploration ); précédent : 002014; suivant : 002016Contribution to the design of a robotized tele-ultrasound system
Auteurs : Terence Essomba [France] ; Med Amine Laribi [France] ; Jean-Pierre Gazeau [France] ; Said Zeghloul [France] ; Gérard Poisson [France]Source :
English descriptors
- mix :
Abstract
This paper introduces the design of a masterslave robotized system for tele-ultrasound application. The objective of these researches is to design the slave manipulator of this system and its control device (master part). The specification process of the architecture kinematic is based on the analysis of expert's gesture during ultrasound examinations. These studies have been carried out using a motion capture system. The medical gestures were analyzed in terms of ultrasound probe attitude and used in the definition of the kinematics specifications of the proposed manipulator. The Spherical Parallel Mechanism is selected because its characteristics meet the constraint requirements. The optimal synthesis of spherical parallel manipulators is performed using a realcoded Genetic Algorithm based method. Simulations on the actuator responses of the structure allowed us the validate it. In order to control this robot, we have also designed a haptic device that provides easiness to use as well as force feedback. Its orientation control strategy is based on a use of an adaptative kalman filter which efficiency was demonstrated during experimentations.
Url:
DOI: 10.1007/s11465-012-0326-3
Affiliations:
- France
- Centre-Val de Loire, Poitou-Charentes, Région Centre
- Orléans, Poitiers
- Centre Val de Loire Université, Université d'Orléans, Université de Poitiers
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Le document en format XML
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Avenue du Parc Floral - BP 6749 - 45067 Orléans cedex 2</addrLine><country key="FR"></country></address><ref type="url">http://www.univ-orleans.fr/</ref></desc></org></tutelle><tutelle active="#struct-302160" type="indirect"><org type="institution" xml:id="struct-302160" status="VALID"><orgName>ENSI Bourges</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Orléans</settlement><region type="old region" nuts="2">Région Centre</region><region type="region" nuts="2">Centre-Val de Loire</region></placeName><orgName type="university">Université d'Orléans</orgName><orgName type="institution" wicri:auto="newGroup">Centre Val de Loire Université</orgName></affiliation></author></analytic><idno type="DOI">10.1007/s11465-012-0326-3</idno></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="mix" xml:lang="en"><term>adaptative kalman</term><term>genetic algorithm</term><term>motion capture</term><term>spherical parallel mechanism</term><term>tele-echography</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">This paper introduces the design of a masterslave robotized system for tele-ultrasound application. The objective of these researches is to design the slave manipulator of this system and its control device (master part). The specification process of the architecture kinematic is based on the analysis of expert's gesture during ultrasound examinations. These studies have been carried out using a motion capture system. The medical gestures were analyzed in terms of ultrasound probe attitude and used in the definition of the kinematics specifications of the proposed manipulator. The Spherical Parallel Mechanism is selected because its characteristics meet the constraint requirements. The optimal synthesis of spherical parallel manipulators is performed using a realcoded Genetic Algorithm based method. Simulations on the actuator responses of the structure allowed us the validate it. In order to control this robot, we have also designed a haptic device that provides easiness to use as well as force feedback. Its orientation control strategy is based on a use of an adaptative kalman filter which efficiency was demonstrated during experimentations.</div></front></TEI><affiliations><list><country><li>France</li></country><region><li>Centre-Val de Loire</li><li>Poitou-Charentes</li><li>Région Centre</li></region><settlement><li>Orléans</li><li>Poitiers</li></settlement><orgName><li>Centre Val de Loire Université</li><li>Université d'Orléans</li><li>Université de Poitiers</li></orgName></list><tree><country name="France"><region name="Région Centre"><name sortKey="Essomba, Terence" sort="Essomba, Terence" uniqKey="Essomba T" first="Terence" last="Essomba">Terence Essomba</name></region><name sortKey="Gazeau, Jean Pierre" sort="Gazeau, Jean Pierre" uniqKey="Gazeau J" first="Jean-Pierre" last="Gazeau">Jean-Pierre Gazeau</name><name sortKey="Laribi, Med Amine" sort="Laribi, Med Amine" uniqKey="Laribi M" first="Med Amine" last="Laribi">Med Amine Laribi</name><name sortKey="Poisson, Gerard" sort="Poisson, Gerard" uniqKey="Poisson G" first="Gérard" last="Poisson">Gérard Poisson</name><name sortKey="Zeghloul, Said" sort="Zeghloul, Said" uniqKey="Zeghloul S" first="Said" last="Zeghloul">Said Zeghloul</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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|texte= Contribution to the design of a robotized tele-ultrasound system
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