Method of dimensional optimization of spherical robots for medical applications using specialized indices

Abstract

This paper deals with an optimization method of spherical robots applied to the domain of medical robotics. This method relies on specification of indices which describe the constraints and requirements of the particular medical application. The dimensional optimization is demonstrated with two examples of four-degree-of-freedom robots: one dedicated to ultrasound tele-echography and the other a tool for minimally invasive surgery. Each of them has been designed to accurately follow medical gestures. The method involves optimization of the kinematic structure and determination of geometric parameters which have a significant role in avoiding singularities and achieving mechanism compactness. The two examples presented illustrate the robustness of the approach using specialized indices appropriate to each specific case. The method can be used with some generality for new medical robotics applications.