Skip to Main content Skip to Navigation
Theses

Contribution à la conception d'un système robotisé pour la télé-échographie

Abstract : Since the end of the nineties, the tele-echography has been contributing to improve the taking carecapacities of patients. Today, the PRISME laboratory has a recognized expertise in the design ofrobotic tele-echography systems. The objective of this thesis is to provide scientific and technicalsupport to the ANR-PROSIT project. It aims to design of an innovative tele-echography robot. Anexpert gesture study has been carried out in clinical environment to determine its kinematiccharacteristics. It has been performed using the motion capture system Vicon Nexus and itcontributed to establish the specifications of the future robot. The mechanic structure of this robot hasbeen minutely taken in consideration. The spherical parallel mechanism has been selected, studiedand optimized using a genetic algorithm with respect of criterion such as workspace, dexterity andcompacity. The resulted architecture is then analyzed regarding collisions and inaccessibilityaspects. To control this robot, the use of a haptic device with the same shape of an ultrasound probeis proposed. It provides force feedback and it is instrumented with an inertial measurement unit,processed by an adaptative Kalman filter. This new interface has been tested and validated by ViconNexus system.
Document type :
Theses
Complete list of metadatas

Cited literature [22 references]  Display  Hide  Download

https://tel.archives-ouvertes.fr/tel-00843651
Contributor : Abes Star :  Contact
Submitted on : Thursday, July 11, 2013 - 8:09:17 PM
Last modification on : Thursday, March 5, 2020 - 6:49:28 PM
Long-term archiving on: : Saturday, October 12, 2013 - 10:35:09 AM

File

terence.essomba_2635_vm.pdf
Version validated by the jury (STAR)

Identifiers

  • HAL Id : tel-00843651, version 1

Citation

Terence Essomba. Contribution à la conception d'un système robotisé pour la télé-échographie. Autre. Université d'Orléans, 2012. Français. ⟨NNT : 2012ORLE2074⟩. ⟨tel-00843651⟩

Share

Metrics

Record views

494

Files downloads

2519