Contribution to the design of robotized tele-echography system

doi:10.1007/s11465-012-0326-3

Front Mech Eng

2012, Vol. 7

Issue (2) : 135-149 https://doi.org/10.1007/s11465-012-0326-3

RESEARCH ARTICLE

Contribution to the design of robotized tele-echography system

T. ESSOMBA², M. A. LARIBI¹(

), J. P. GAZEAU¹, S. ZEGHLOUL¹, G. POISSON²

1. PPRIME Institute, CNRS-University of Poitiers, UPR 3346, France; 2. PRISME Laboratory, PRES Loire Valley University, Orleans, Bourges, France

Download: PDF(716 KB) HTML
Export: BibTeX | EndNote | Reference Manager | ProCite | RefWorks

Abstract

This paper introduces the design of a master-slave 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 real-coded 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.

Keywords tele-echography motion capture spherical parallel mechanism genetic algorithm adaptative kalman filter

Corresponding Author(s): LARIBI M. A.,Email:med.amine.laribi@univ-poitiers.fr

Issue Date: 05 June 2012

Cite this article:

T. ESSOMBA,M. A. LARIBI,J. P. GAZEAU, et al. Contribution to the design of robotized tele-echography system[J]. Front Mech Eng, 2012, 7(2): 135-149.

URL:

https://academic.hep.com.cn/fme/EN/10.1007/s11465-012-0326-3
https://academic.hep.com.cn/fme/EN/Y2012/V7/I2/135

Fig.1 Slave manipulator of the ESTELE robot

Fig.2 Reflective markers set on the expert’s hand and on the ultrasound probe

Fig.3 Reconstruction of several detected markers into segments. (a) Expert’s arm;(b) expert’s hand;(c) ultrasound probe

Fig.4 Terrestrial and ultrasound probe reference frame

Fig.5 Representation of the Euler angles

Fig.6 Construction of the ultrasound probe reference frame

Tab.1 Maximum orientation values of a ultrasound probe during a standard examination act

Fig.7 The joint graph of the 3 RRR SPM

Fig.8 Solid representation of the 3 RRR SPM

Fig.9 Definition of design parameters. (a) A single branch RRR; (b) a mobile platform

Fig.10 A general scheme for binary representation and evaluation of manipulator orientation workspace

Fig.11 Flow chart for GA method

Tab.2 The optimal parameter of spherical parallel mechanism.

Fig.12 An optimal Spherical Parallel Mechanism

Fig.13 New haptic device operated under SMAR environment

Fig.14 Embedded equipment of the “dummy probe”

Fig.15 Reference frame and axis of the “dummy probe”

Fig.16 Application of the Kalman Filter

Fig.17 Force control and feedback.

Fig.18 (a) CAD of fourth axis; (b) fourth axis integrated to PROSIT 1

Fig.19 (a) Experimentations on the DP; (b) virtual representation of the DP under Nexus environment

Fig.20 Construction of the DP reference frame

Fig.21 Experimentation results of the Adaptative Kalman Filter.

Fig.22 Influence of the measurement error covariance on the Kalman Filter (Zone )

Fig.23 Example of experimented movements

Fig.24 Evolution of the Cardan angles corresponding to a given movement of the DP

Fig.25 Evolution of the Euler angles corresponding to a given movement of the DP

Fig.26 Evolution of the actuator coordinate of the SPM corresponding to a given movement of the end effector

Fig.27 Evolution of the actuator coordinate of the SPM corresponding to a given movement of the medical expert

1	Gourdon A, Poignet P, Poisson G, Vieyres P, Marché P. A new robotic mechanism for medical application. In: Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics, USA , 1999, 33-38
2	Vieyres P, Poisson G, Courréges F, Mèrigeaux O, Arbeille P. The TERESA project: from space research to ground tele-echography. Industrial Robot: An International Journal , 2003, 77-82
3	Delgorge C, Courrèges F, Bassit L A, Novales C, Rosenberger C, Smith-Guerin N, Brù C, Gilabert R, Vannoni M, Poisson G, Vieyres P. A tele-operated mobile ultrasound scanner using a light-weight robot. In: Proceedings of IEEE Transactions on Innovation Technology in Biomedicine , 2005, 1: 50-58
4	Arbeille P, Ruiz J, Herve P, Chevillot M, Poisson G, Perrotin F. Fetal tele-echography using a robotic arm and a satellite link. Ultrasound in Obstetrics & Gynecology , 2005, 26(3): 221-226 doi: 10.1002/uog.1987 pmid:16116561
5	Charron G, Morette N, Essomba T, Vieyres P, Canou J, Fraisse P, Zeghloul S, Krupa A, Arbeille P. Robotic Platform for an Interactive Tele-echographic System: The PROSIT ANR-2008 Project, Hamlyn Symposium on Medical Robotics, London, 2010
6	Triantafyllidis G A, Thomos N, Canero C, Vieyres P, Strintzis M G. A user interface for mobile robotized tele-echography. Nuclear Instruments and Methods in Physics Research Section A: Accelerators, Spectrometers, Detectors and Associated Equipment , 2006, 569(2):645-648
7	Mebarki R, Krupa A, Chaumette F.Image moments-based ultrasound visual servoing. In: Proceedings of IEEE International Conference on Robotics and Automation, Pasadena , 2008, 113-119
8	Fraisse P, Dauchez P, Pierrot F. Robust force control strategy based on virtual environment. Advanced Robotics Journal, Robotics Society of Japan , 2007, 21(3,4): 485-498
9	Gazeau J P, Zeghloul S, Ramirez G. Manipulation with a polyarticulated mechanical hand: A new efficient real-time method for computing fingertip forces for a global manipulation strategy. Robotica , 2005, 23(4): 479-490 doi: 10.1017/S0263574704001067
10	Arbeille P, Capri A, Ayoub J, Kieffer V, Poisson G. Use of a robotic arm to tele-operated abdominal ultrasound. Am J Roentgenology, AJR , 2007, 188: 317-322
11	Smith-Guérin N, Poisson G, Nouaille P. Optimization of a 4-DOF tele-echography robot. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems , 2010, 3501-3506
12	Asada H, Granito J. Kinematic and static characterization of wrist joints and their design. In: Proceedings of IEEE International Conference on Robotics and Automation , 1985, 2: 244-250
13	Gosselin C, Angeles J. The optimum kinematic design of a three-degree-of-freedom previous parallel manipulator. ASME J. Mech. Trans. Autom. Des. , 1989, 111(2): 202-207 doi: 10.1115/1.3258984
14	Gosselin C M, Lavoie E. On the kinematic design of spherical three-degree-of-freedom manipulators. The International Journal of Robotics Research , 1993, 12(4): 394-402 doi: 10.1177/027836499301200406
15	Gosselin C M, Hamel J F. The agile eye: a high-performance three-degree-of-freedom camera-orienting device. In: Proceedings of IEEE International Conference on Robotics and Automation , 1994, 781-786
16	Angeles J. Ralionalli'in Cllwtics. New York: Springer-Verlag, 1988
17	Liu X J, Jin Z L, Gao F. Optimum design of 3-DOF spherical parallel manipulators with respect to the conditioning and stiffness indices. Mechanism and Machine Theory , 2000, 35(9): 1257-1267 doi: 10.1016/S0094-114X(99)00072-5
18	Laribi M A, Essomba T, Zeghloul S, Poisson G. Optimal synthesis of a new spherical parallel mechanism for application to tele-echography chain. In: Proceedings of ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE , 2011
19	Ryu J, Bonev I A. Orientation workspace analysis of 6-DOF parallel manipulators. In: Proceedings of the ASME Design Engineering Technical Conferences, Las Vegas , 1999
20	Ceccarelli M, Carbone G, Ottaviano E. An optimization problem approach for designing both serial and parallel manipulators. In: Proceedings of MUSME International Symposium on Multibody Systems and Mechatronics, Uberlandia, Brazil , 2005
21	Laribi M A, Mlika A, Romdhana L, Zeghloul S. Design of spherical parallel mechanisms. 4ième Congrès International Conception et Modélisation des Systèmes Mécaniques CMSM’2011, Sousse, Tunisia , 2011
22	Holland J H. Adoptation in natural and artificial systems. 2nd ed. University of Michigan Press , 1992
23	Zeghloul S, Blanchard B, Ayrault M. SMAR: A robot modeling and simulation system. Robotica , 1997, 15(1): 63-73 doi: 10.1017/S0263574797000088
24	Novales C. Télé-échographie Robotisée: Le projeteuropéen OTELO et son premier démonstrateur OTELO 1. Journée Nationale de la Recherche en Robotique , 2003
25	Courrèges F, Smith N, Poisson G, Vieyres P, Gourdon A, Spzieg M, Merigeaux O. Real time exhibition of a simulated space tele-echography using an ultra-light robot. In: Proceedings of 6th International Symposium on Artificial Intelligence and Robotics & Automation in Space, Canadian Space Agency, St-Hubert, Quebec, Canada , 2001
26	Welch G, Bishop G. An Introduction to the Kalman Filter, 2006
27	Rehbinder H, Hu X M. Drift-free attitude estimation for accelerated rigid bodies. Automatica , 2004, 40(4) : 653-659 doi: 10.1016/j.automatica.2003.11.002
28	French patent n°FR08/03046. Carte électronique et système comportant une pluralité de telles cartes. 2008

[1]	Jiali ZHAO, Shitong PENG, Tao LI, Shengping LV, Mengyun LI, Hongchao ZHANG. Energy-aware fuzzy job-shop scheduling for engine remanufacturing at the multi-machine level[J]. Front. Mech. Eng., 2019, 14(4): 474-488.
[2]	Weiwei ZHANG,Xiaosong WANG,Zhongren WANG,Shijian YUAN. Enhancing fatigue life of cylinder-crown integrated structure by optimizing dimension[J]. Front. Mech. Eng., 2015, 10(1): 102-110.
[3]	Pengxing YI,Lijian DONG,Tielin SHI. Multi-objective genetic algorithms based structural optimization and experimental investigation of the planet carrier in wind turbine gearbox[J]. Front. Mech. Eng., 2014, 9(4): 354-367.
[4]	Sunil Dhingra,Gian Bhushan,Kashyap Kumar Dubey. Multi-objective optimization of combustion, performance and emission parameters in a jatropha biodiesel engine using Non-dominated sorting genetic algorithm-II[J]. Front. Mech. Eng., 2014, 9(1): 81-94.
[5]	Ravindra Nath YADAV, Vinod YADAVA, G.K. SINGH. Multi-objective optimization of process parameters in Electro-Discharge Diamond Face Grinding based on ANN-NSGA-II hybrid technique[J]. Front Mech Eng, 2013, 8(3): 319-332.
[6]	Abdelbadia CHAKER, Abdelfattah MLIKA, Med Amine LARIBI, Lotfi ROMDHANE, Sa?d ZEGHLOUL. Synthesis of spherical parallel manipulator for dexterous medical task[J]. Front Mech Eng, 2012, 7(2): 150-162.
[7]	Jialun YANG, Feng GAO, . Singularity loci of an orthogonal spherical two-degree-of-freedom parallel mechanism[J]. Front. Mech. Eng., 2009, 4(4): 379-385.
[8]	LIU Xiong, CHEN Yan, YE Zhiquan. Optimization model for rotor blades of horizontal axis wind turbines[J]. Front. Mech. Eng., 2007, 2(4): 483-488.
[9]	JIANG Kai, CHEN Hai-xia, YUAN Sen-miao. Multiobjective image recognition algorithm in the fully automatic die bonder[J]. Front. Mech. Eng., 2006, 1(3): 313-316.
[10]	CHANG Jian-feng, ZHONG Yue-xian, HAN Zan-dong. Optimal Method of Capacitated Lot-Sizing Planning in Manufacturing Systems[J]. Front. Mech. Eng., 2006, 1(1): 67-70.

Viewed

Full text

Abstract

Cited

Shared

Discussed