Technical Brief

On the Development of a New Master Device Used for Medical Tasks

[+] Author and Article Information
Houssem Saafi

Mechanical Laboratory of Sousse National Engineering,
School of Sousse,
University of Sousse,
Sousse 4054, Tunisia
e-mail: houssem.saafi@gmail.com

Med Amine Laribi

Department GMSC,
Pprime Institute,
CNRS—University of Poitiers-ENSMA,
UPR 3346,
86962 Futuroscope Chasseneuil Cedex, France
e-mail: med.amine.laribi@univ-poitiers.fr

Said Zeghloul

Department GMSC,
Pprime Institute,
CNRS—University of Poitiers-ENSMA,
UPR 3346,
86962 Futuroscope Chasseneuil Cedex, France
e-mail: said.zeghloul@univ-poitiers.fr

Marc Arsicault

Department GMSC,
Pprime Institute,
CNRS—University of Poitiers-ENSMA,
UPR 3346,
86962 Futuroscope Chasseneuil Cedex, France
e-mail: marc.arsicault@univ-poitiers.fr

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received July 13, 2017; final manuscript received February 28, 2018; published online April 11, 2018. Assoc. Editor: Clement Gosselin.

J. Mechanisms Robotics 10(4), 044501 (Apr 11, 2018) (6 pages) Paper No: JMR-17-1210; doi: 10.1115/1.4039590 History: Received July 13, 2017; Revised February 28, 2018

This paper discusses the design of a new spherical parallel manipulator (SPM), which is used as a master device for medical tasks. This device is obtained by changing the kinematics of a classic SPM to eliminate the singularity from the device's useful workspace. The kinematic models of the new device are studied. The geometric parameters of the new device are optimized to eliminate the singularity. A prototype of the new master device is presented. Experiments are carried out using the device which allowed the control of a surgical robot.

Copyright © 2018 by ASME
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Fig. 4

Working modes of the new SPM: (a) working mode 1, (b) working mode 2, (c) working mode 3, and (d) working mode 4

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Fig. 5

Useful workspace in the plane (ψ, θ)

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Fig. 6

Minimum distance identification

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Fig. 3

Kinematics of the leg A

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Fig. 2

New kinematics of the master device

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Fig. 1

Master device (a) and a surgical robot (b) of a medical tele-operation system

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Fig. 7

rmin evolution for each working mode

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Fig. 8

Limitation of the new SPM

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Fig. 9

Dexterity distribution of the classic SPM φ=50deg

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Fig. 10

Discretized border of the useful workspace

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Fig. 12

Dexterity distributions for the optimal SPM: (a) φ=−50deg, (b) φ=0deg, and (c) φ=50deg

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Fig. 15

Actuated joint torques

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Fig. 16

Self-rotation (φ) evolution for (ψ, θ)=(135deg, 54deg)

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Fig. 17

Force sensor installed on the slave robot

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Fig. 13

Dexterity distribution of the optimal SPM for φ=50deg

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Fig. 14

Prototype of the new device



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