Abstract
Doppler sonographer’s postures during examination lead to Musculoskeletal Disorder. To prevent these injuries, a tele-operated system is proposed in order to make easy the practitioner’s investigations. The tele-operated system is composed of a master haptic device controlled by the angiologist and a slave collaborative robot handling the probe. The master device is based on parallel architecture, while the slave robot is based on serial redundant architecture. Safety of such system is particularly crucial in order to avoid collisions between the robot and the patient. This paper introduces a real-time strategy, which takes advantage of redundancy of the robot arm to push the robot away from the patient without modifying the position of the probe.
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Acknowledgments
This research is supported by ROBOTEX, the French national network of robotics platforms (N° ANR-10-EQPX-44-01) and the region ‘‘Nouvelle-Aquitaine” (program HABISAN 2015–2020) with the financial participation of the European Union (FEDER/ERDF, European Regional Development Fund).
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Préault, C., Laribi, M.A., Arsicault, M., Zeghloul, S. (2019). Real Time Redundancy-Based Approach to Robot-Patient Safe Enhancement: Application to Doppler Sonography. In: Gasparetto, A., Ceccarelli, M. (eds) Mechanism Design for Robotics. MEDER 2018. Mechanisms and Machine Science, vol 66. Springer, Cham. https://doi.org/10.1007/978-3-030-00365-4_21
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DOI: https://doi.org/10.1007/978-3-030-00365-4_21
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