Process of optimisation for a 4 DOF tele-echography robot

Nouaille, Laurence; Vieyres, Pierre; Poisson, Gérard

doi:10.1017/s0263574711001305

Cited by 18 publications

(11 citation statements)

References 37 publications

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“…Syrtech [93], Teresa [94], TER [95] or Masuda [96] used robots attached to a table next to the patient or posed on the patient's body maintained by an assistant. Previous trends were light-weight body-mounted robots positioned on the patient's body Najafi's parallel robot [97], Prosit 1 serial robot [98] or FASTele remotely controlled with a smartphone [99] (Figure 5). A paramedic maintains the robot on the patient anatomical zone defined by the distant medical expert using a videoconferencing system, while the distant sonographer controls the probe orientations using a dedicated input device ( Figure 6).…”

Section: Remote Ultrasonography Haptic Mastermentioning

confidence: 99%

A Review of Pneumatic Actuators Used for the Design of Medical Simulators and Medical Tools

Senac

Lelevé

Moreau

et al. 2019

MTI

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Simulators have been traditionally used for centuries during medical gestures training. Nowadays, mechatronic technologies have opened the way to more evolved solutions enabling objective assessment and dedicated pedagogic scenarios. Trainees can now practice in virtual environments representing various kind of patient and body parts including physio-pathologies issues. Gestures, to be mastered, vary according to each medical specialty (e.g., ultrasound probe orientations, or forceps installation during assisted delivery). Hence, medical students need kinesthetic feedback in order to significantly improve their learning capabilities. Gesture simulators require haptic devices with variable stiffness actuators. Existing solutions do not always fit the requirements because of their significant size. Contrary to electric actuators, pneumatic technology is low-cost, available off-the-shelf and offers a better mass–power ratio. However, it presents two main drawbacks: nonlinear dynamics and need for a compressed air supply. During the last decade, we have developed several haptic solutions based on pneumatic actuation (e.g., birth simulator, epidural needle insertion simulator) and, recently, in a joint venture with Prisme laboratory, a pneumatic probe master device for remote ultrasonography. This paper recalls literature scientific approaches on pneumatic actuation developed in the medical context and illustrated with the aforementioned applications to highlight the benefits.

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Section: Remote Ultrasonography Haptic Mastermentioning

confidence: 99%

A Review of Pneumatic Actuators Used for the Design of Medical Simulators and Medical Tools

Senac

Lelevé

Moreau

et al. 2019

MTI

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“…Some optimizations about the spherical mechanism have been implemented to obtain the better mechanism performance of MIS robot. Nouaille 28,29 proposed two methods that are using an aggregation function and a constrained optimization to optimize a 4 DoF tele-echography robot. Zhang 30 established the multi-criteria kinematic optimization model for spherical serial mechanisms by applying Genetic algorithms.…”

Section: Dimensional Synthesis Of the Mis Robotmentioning

confidence: 99%

Dimensional synthesis and concept design of a novel minimally invasive surgical robot

Niu¹,

Pan²,

Zhang³

et al. 2018

Robotica

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SUMMARYA new minimally invasive surgical (MIS) robot consisting of a spherical remote center motion (RCM) mechanism with modular design is proposed. A multi-objective dimensional synthesis model is presented to obtain the excellent performance indices. There are four objectives: a global kinematic index, a compactness index, a global comprehensive stiffness index, and a global dynamic index. Other indices characterizing the design requirement, such as workspace, mechanical parameter, and mass, are chosen as constraints. A new decoupled mechanism is raised to solve the coupled motion between the linear platform and the four degrees of freedom (DoF) of surgical instrument as a result of post-driving motors. Another new mechanical decoupled method is proposed to eliminate the coupled motion between the wrist and the forceps, enhance the dexterity of surgical instrument, and improve the independence of each motor. Then, a 7-DoF MIS robotic prototype based on optimization results has been built up. Experiment results validate the effectiveness of the two mechanical decoupled methods. The position change of the RCM point, accuracy, and repeatability of the MIS robot meet the requirements of MIS. Successful animal experiments validate the effectiveness of the novel MIS robot.

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“…Many ongoing projects have encouraged the development of these devices, for example, the Advanced Robotised Tele-sonography Integrated Service project by the European Space Agency. [62,67] Other similar projects include the TERESA project to bring astronaut quality US examinations [68] and the ESTELE [69] and PROSIT [70] projects for abdominal and fetal echography.…”

Section: Computed Tomography-guided Robotic Systemsmentioning

confidence: 99%

Robotics in Interventional Radiology: Past, Present, and Future

Rueda¹,

Riga

Hamady

2018

The Arab Journal of Interventional Radiology

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Robotic endovascular systems have been successfully used to treat a wide range of pathologies including endovascular aneurysm repairs, uterine artery embolizations, and cardiac electrophysiology ablations. Limited research suggests that the use of robotic systems may help to achieve a more accurate manipulation and increased steerability of the catheter during endovascular procedures. In addition, robotic systems have also been designed to enhance image-guided percutaneous procedures, demonstrating a potential to facilitate needle placements and guidance and diminish radiation exposure risk. There are still many limitations for the widespread of this emerging technology. More studies are needed to validate the use of robotic systems and to show meaningful clinical advantages over traditional methods as well as assessing cost-effectiveness.

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Process of optimisation for a 4 DOF tele-echography robot

Cited by 18 publications

References 37 publications

A Review of Pneumatic Actuators Used for the Design of Medical Simulators and Medical Tools

A Review of Pneumatic Actuators Used for the Design of Medical Simulators and Medical Tools

Dimensional synthesis and concept design of a novel minimally invasive surgical robot

Robotics in Interventional Radiology: Past, Present, and Future

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