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Publication Details
AFRICAN RESEARCH NEXUS
SHINING A SPOTLIGHT ON AFRICAN RESEARCH
Synthesis of spherical parallel manipulator for dexterous medical task
Frontiers of Mechanical Engineering, Volume 7, No. 2, Year 2012
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Description
This paper deals with the design and the analysis of a spherical parallel manipulator (SPM) for a haptic minimally invasive surgery application. First the medical task was characterized with the help of a surgeon who performed a suture technique called anastomosis. A Vicon system was used to capture the motion of the surgeon, which yielded the volume swept by the tool during the anastomosis operation. The identified workspace can be represented by a cone with a half vertex angle of 26°. A multi objective optimization procedure based on genetic algorithms was then carried out to find the optimal SPM. Two criteria were considered, i. e., task workspace and mechanism dexterity. The optimized SPM was then analyzed to determine the error on the orientation of the end effector as a function of the manufacturing errors of the different links of the mechanism. © 2012 Higher Education Press and Springer-Verlag Berlin Heidelberg.
Authors & Co-Authors
Chaker, Abdelbadiâ
Tunisia, Sousse
Université de Sousse
France, Chasseneuil du Poitou
Ensma Ecole Nationale Supérieure de Mécanique et D´aérotechnique
Mlika, Abdelfattah
Tunisia, Sousse
Université de Sousse
Laribi, Med Amine
France, Chasseneuil du Poitou
Ensma Ecole Nationale Supérieure de Mécanique et D´aérotechnique
Zeghloul, Saïd
France, Chasseneuil du Poitou
Ensma Ecole Nationale Supérieure de Mécanique et D´aérotechnique
Statistics
Citations: 49
Authors: 4
Affiliations: 2
Identifiers
Doi:
10.1007/s11465-012-0325-4
ISSN:
20950241
Research Areas
Genetics And Genomics
Health System And Policy