ICRA'09 Paper Abstract


Paper FrD12.3

Oetomo, Denny (The University of Melbourne), Daney, David (INRIA Sophia Antipolis), Harada, Kanako (Scuola Superiore Sant'Anna), Merlet, Jean-Pierre (INRIA), Menciassi, Arianna (Scuola Superiore Sant'Anna - SSSA), Dario, Paolo (Scuola Superiore Sant'Anna)

Topology Design of Surgical Reconfigurable Robots by Interval Analysis

Scheduled for presentation during the Regular Sessions "Medical Robotics - II" (FrD12), Friday, May 15, 2009, 16:10−16:30, Room: 504

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 24, 2022

Keywords Mechanism Design, Medical Robots and Systems, Kinematics


An automated design generation algorithm for a serial kinematic chain is presented for the reconfigurable robot used in a novel endoluminal surgical procedure (European Union project ARES). The algorithm produces the possible topologies, given the design constraints, desired performance, and available modules, such that all constraints are satisfied for every point in the desired workspace. This is achieved through the use of interval analysis methods and branch-and-bound loop that searches through the end-effector pose and the design parameter spaces. The resulting algorithm is demonstrated through an example of a serial chain manipulator made of the reconfigurable modules of the surgical robot for the application. The results are presented and discussed.



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