Publikation
Design optimization of a parallel manipulator for otological surgery
Durgesh Haribhau Salunkhe; Guillaume Michel; Elise Olivier; Shivesh Kumar; Marcello Sanguineti; Damien Chablat
In: 2022 Workshop: "New frontiers of parallel robotics" (second edition). IEEE International Conference on Robotics and Automation (ICRA-2022), May 23-27, Philadelphia, PA, USA, IEEE, 5/2022.
Zusammenfassung
The use of an endoscope in otological surgery
as compared to using a microscope provides many benefits
in terms of visibility and access to the operating region. The
disadvantage of using an endoscope is that it has to be handled
by the surgeon during the surgery. A novel parallel kinematic mechanism has been proposed recently for manipulating
the endoscope during surgery. This paper details the design
requirements considered for the optimization of the process,
after consulting surgeons with various expertise. The paper
further presents the different evaluation strategies that can be
used to optimize the design parameters as per the needs of
the application. The contribution of the presented work is the
implementation of the surgeons’ requirements into an objective
function and the optimization of a proposed architecture of a
parallel kinematic mechanism suitable for otological surgery.