Full Content is available to subscribers

Subscribe/Learn More  >

Design and Optimization of a Master-Slave System for Tele-Echography Application

[+] Author Affiliations
T. Essomba

PRES Loire Valley University France, Orléans, France

M. A. Laribi, J. P. Gazeau, S. Zeghloul

University of Poitiers, Poitiers, France

G. Poisson

PRES Loire Valley University, Orléans, France

Paper No. ESDA2012-82744, pp. 343-352; 10 pages
  • ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis
  • Volume 3: Advanced Composite Materials and Processing; Robotics; Information Management and PLM; Design Engineering
  • Nantes, France, July 2–4, 2012
  • Conference Sponsors: International
  • ISBN: 978-0-7918-4486-1
  • Copyright © 2012 by ASME


This paper introduces the research carried out on the design of a robotized teleechography system. Such a system is composed of a master control device and a slave robotic manipulator. Our objective is to contribute to the French Agence National de Recherche (ANR) project PROSIT by designing both devices. To define the kinematic architecture, we had proposed an approach based on the analysis of the expert gesture as a first step of the design process. We have used a motion capture system to study the ultrasound examination gesture and to define the kinematic specifications for the proposed manipulator. A new kind of architecture was selected: the spherical parallel mechanism (SPM). We have chosen it because it reaches the constraint requirements. The kinematic architecture was synthesized by executing a real-coded genetic algorithm (GA). We integrated optimization criteria in the synthesis of the selected architecture. We have fixed a minimum required workspace and we have chosen to optimized the SPM in terms of dexterity and compacity. Another important part of our research was to design a haptic device to provide a very intuitive control of the tele-operated robot. We have opted for a free hand interface that integrates an active force control and feedback. An Inertial Measurement Unit (IMU) has been integrated. The data collected from the IMU that we integrated are processed by a Kalman Filter. But we have modified this predictor-estimator tool from the state of art to adapt its behavior with respect to the type of motion done by the operator. Experimentations via our motion capture system have demonstrated the accuracy of this orientation control strategy. The final step will be the experimental and clinical validation on real patients.

Copyright © 2012 by ASME
Topics: Design , Optimization



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In