Geometrical design analysis of a URRR-URR parallel mechanism for percutaneous interventions
Résumé
Percutaneous intervention procedures, such as biopsies, thermal ablations, or regional anesthesia, involve the insertion of a puncture instrument into the patient's body to remove tissue, tumors, or prevent the sensation of pain. The usage of robotic assistants can improve working conditions for practitioners, lead to better patient care, and reduce both cost and time in said interventions. In this work, a novel URRR-URR parallel mechanism intended for percutaneous interventions is presented and studied. A methodology to determine the solutions to its Direct and Inverse Geometric Model is explained. Then, an approach to obtain the boundaries of the manipulator's workspace is presented. The design problem of the RCM is formulated as a bi-objective optimization problem. The first objective function is the percentage of the prescribed cone-shaped workspace reached by the end-effector of the mechanism. The second objective function amounts to the mechanism size. Finally, the non-dominated Pareto-optimal solutions are obtained and three Pareto-optimal solutions are illustrated.
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