Contribution to the design of robotized tele-echography system
This paper introduces the design of a master-slave robotized system for tele-ultrasound application. The objective of these researches is to design the slave manipulator of this system and its control device (master part). The specification process of the architecture kinematic is based on the analy...
Saved in:
| Published in | Frontiers of Mechanical Engineering Vol. 7; no. 2; pp. 135 - 149 |
|---|---|
| Main Authors | , , , , |
| Format | Journal Article |
| Language | English |
| Published |
Heidelberg
Higher Education Press
01.06.2012
SP Higher Education Press |
| Subjects | |
| Online Access | Get full text |
| ISSN | 2095-0233 2095-0241 |
| DOI | 10.1007/s11465-012-0326-3 |
Cover
| Abstract | This paper introduces the design of a master-slave robotized system for tele-ultrasound application. The objective of these researches is to design the slave manipulator of this system and its control device (master part). The specification process of the architecture kinematic is based on the analysis of expert's gesture during ultrasound examinations. These studies have been carried out using a motion capture system. The medical gestures were analyzed in terms of ultrasound probe attitude and used in the definition of the kinematics specifications of the proposed manipulator. The Spherical Parallel Mechanism is selected because its characteristics meet the constraint requirements. The optimal synthesis of spherical parallel manipulators is performed using a real-coded Genetic Algorithm based method. Simulations on the actuator responses of the structure allowed us the validate it. In order to control this robot, we have also designed a haptic device that provides easiness to use as well as force feedback. Its orientation control strategy is based on a use of an adaptative kalman filter which efficiency was demonstrated during experimentations. |
|---|---|
| AbstractList | This paper introduces the design of a master-slave robotized system for tele-ultrasound application. The objective of these researches is to design the slave manipulator of this system and its control device (master part). The specification process of the architecture kinematic is based on the analysis of expert’s gesture during ultrasound examinations. These studies have been carried out using a motion capture system. The medical gestures were analyzed in terms of ultrasound probe attitude and used in the definition of the kinematics specifications of the proposed manipulator. The Spherical Parallel Mechanism is selected because its characteristics meet the constraint requirements. The optimal synthesis of spherical parallel manipulators is performed using a realcoded Genetic Algorithm based method. Simulations on the actuator responses of the structure allowed us the validate it. In order to control this robot, we have also designed a haptic device that provides easiness to use as well as force feedback. Its orientation control strategy is based on a use of an adaptative kalman filter which efficiency was demonstrated during experimentations. This paper introduces the design of a master-slave robotized system for tele-ultrasound application. The objective of these researches is to design the slave manipulator of this system and its control device (master part). The specification process of the architecture kinematic is based on the analysis of expert's gesture during ultrasound examinations. These studies have been carried out using a motion capture system. The medical gestures were analyzed in terms of ultrasound probe attitude and used in the definition of the kinematics specifications of the proposed manipulator. The Spherical Parallel Mechanism is selected because its characteristics meet the constraint requirements. The optimal synthesis of spherical parallel manipulators is performed using a real-coded Genetic Algorithm based method. Simulations on the actuator responses of the structure allowed us the validate it. In order to control this robot, we have also designed a haptic device that provides easiness to use as well as force feedback. Its orientation control strategy is based on a use of an adaptative kalman filter which efficiency was demonstrated during experimentations. |
| Author | GAZEAU, J. P. ESSOMBA, T. LARIBI, M. A. POISSON, G. ZEGHLOUL, S. |
| Author_xml | – sequence: 1 givenname: T. surname: ESSOMBA fullname: ESSOMBA, T. organization: PRISME Laboratory, PRES Loire Valley University, Orleans, Bourges, France – sequence: 2 givenname: M. A. surname: LARIBI fullname: LARIBI, M. A. email: med.amine.laribi@univ-poitiers.fr organization: PPRIME Institute, CNRS-University of Poitiers, UPR 3346, France – sequence: 3 givenname: J. P. surname: GAZEAU fullname: GAZEAU, J. P. organization: PPRIME Institute, CNRS-University of Poitiers, UPR 3346, France – sequence: 4 givenname: S. surname: ZEGHLOUL fullname: ZEGHLOUL, S. organization: PPRIME Institute, CNRS-University of Poitiers, UPR 3346, France – sequence: 5 givenname: G. surname: POISSON fullname: POISSON, G. organization: PRISME Laboratory, PRES Loire Valley University, Orleans, Bourges, France |
| BookMark | eNp9kE1LAzEQhoMoWGt_gLf9A6szyX5eBCl-QcGLnkOSTXZT2k1J0kP99WZZ8eChpxmGeead970hl6MbNSF3CPcIUD8ExKIqc0CaA6NVzi7IgkKbJrTAy7-esWuyCmELABRoWVK2II9rN0Zv5TFaN2bRZXHQWaeD7cfMmcw76aL91l0W9U7nWg2u9-IwnLJwClHvb8mVEbugV791Sb5enj_Xb_nm4_V9_bTJFasx5tN7AoUpVVtUTHXYYiFlY0xRyBpLaFECNLKrEFBS1pgGBGvKtKFEawrFlgTnu8q7ELw2_ODtXvgTR-BTBnzOgKcM-JQBZ4mp_zHKRjH5jF7Y3VmSzmRIKmOvPd-6ox-TwbNQM0OD7QftdXfwOgRufNKz2p9DfwBns4QR |
| CitedBy_id | crossref_primary_10_4018_ijmstr_2013070101 crossref_primary_10_1017_S0263574714001805 crossref_primary_10_1109_JSYST_2014_2314773 crossref_primary_10_1177_0954406214530598 crossref_primary_10_1177_0954406215590639 crossref_primary_10_3390_app14062551 crossref_primary_10_1115_1_4044411 crossref_primary_10_1051_meca_2014022 |
| Cites_doi | 10.1163/156855307780132018 10.1109/AIM.1999.803139 10.1017/S0263574704001067 10.1109/ROBOT.2008.4543195 10.1016/S0094-114X(99)00072-5 10.1002/uog.1987 10.1109/IROS.2010.5649680 10.2214/AJR.05.0469 10.1177/027836499301200406 10.1109/TITB.2004.840062 10.1115/DETC2011-47184 10.1115/DETC99/DAC-8646 10.1115/1.3258984 10.1016/j.automatica.2003.11.002 10.1017/S0263574797000088 10.1016/j.nima.2006.08.062 |
| ContentType | Journal Article |
| Copyright | Copyright reserved, 2014, Higher Education Press and Springer-Verlag Berlin Heidelberg Higher Education Press and Springer-Verlag Berlin Heidelberg 2012 |
| Copyright_xml | – notice: Copyright reserved, 2014, Higher Education Press and Springer-Verlag Berlin Heidelberg – notice: Higher Education Press and Springer-Verlag Berlin Heidelberg 2012 |
| DBID | AAYXX CITATION |
| DOI | 10.1007/s11465-012-0326-3 |
| DatabaseName | CrossRef |
| DatabaseTitle | CrossRef |
| DatabaseTitleList | |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Engineering |
| EISSN | 2095-0241 |
| EndPage | 149 |
| ExternalDocumentID | 10_1007_s11465_012_0326_3 10.1007/s11465-012-0326-3 |
| GroupedDBID | -EM .VR 06D 0VY 1-T 29~ 2J2 2JN 2JY 2KG 2KM 2LR 2~H 30V 4.4 406 40E 5VS 8UJ 95- 95. 96X AABHQ AAFGU AAIAL AAJKR AANZL AARHV AARTL AATLR AATNV AATVU AAUYE AAWCG AAYFA AAYIU AAYQN AAYTO ABBBX ABDZT ABECU ABFGW ABFTD ABFTV ABHQN ABJNI ABJOX ABKAS ABKCH ABKTR ABMQK ABNWP ABQBU ABSXP ABTEG ABTHY ABTKH ABTMW ABWNU ABXPI ACAOD ACBMV ACBRV ACBXY ACGFS ACHSB ACHXU ACIPQ ACKNC ACMDZ ACMLO ACOKC ACOMO ACSNA ACTTH ACVWB ACWMK ACZOJ ADHIR ADINQ ADKNI ADKPE ADMDM ADOXG ADRFC ADTPH ADURQ ADYFF ADZKW AEBTG AEFTE AEGNC AEJHL AEJRE AEKMD AEMSY AEOHA AEPYU AESKC AESTI AETLH AEVLU AEVTX AEXYK AFLOW AFNRJ AFQWF AFWTZ AFZKB AGAYW AGDGC AGGBP AGJBK AGMZJ AGQEE AGQMX AGWIL AGWZB AGYKE AHAVH AHBYD AHKAY AHSBF AHYZX AIAKS AIIXL AILAN AIMYW AITGF AJBLW AJDOV AJRNO AJZVZ ALMA_UNASSIGNED_HOLDINGS ALWAN AMKLP AMXSW AMYLF AOCGG ARMRJ ASPBG AVWKF AXYYD AZFZN B-. BDATZ BGNMA CSCUP DDRTE DNIVK DPUIP EBLON EBS EIOEI EJD ESBYG FEDTE FERAY FFXSO FIGPU FINBP FNLPD FRRFC FSGXE FWDCC GGCAI GGRSB GJIRD GNWQR GQ6 GQ7 HF~ HG6 HMJXF HRMNR HVGLF IJ- IKXTQ IWAJR IXD I~Z J-C JBSCW JZLTJ KOV LLZTM M4Y MA- N2Q NPVJJ NQJWS NU0 O9J P4S P9P PF0 PT4 R89 ROL RSV S16 S3B SAP SCL SEG SHX SISQX SJYHP SNE SNPRN SNX SOHCF SOJ SPISZ SRMVM SSLCW STPWE SZN TSG TUC U2A UG4 UNUBA UOJIU UTJUX UZXMN VC2 VFIZW W23 W48 WK8 YLTOR Z7R Z7S Z7X Z7Y Z7Z ZMTXR ~A9 0R~ AACDK AAJBT AASML AAYZH ABAKF ABQSL ACDTI ACPIV AEFQL AFBBN AGRTI AIGIU BSONS -SC -S~ AAPKM AAYXX ABBRH ABDBE ABFSG ACSTC ADHKG AEZWR AFDZB AFHIU AFOHR AGQPQ AHPBZ AHWEU AIXLP ATHPR AYFIA CAJEC CITATION Q-- U1G U5M |
| ID | FETCH-LOGICAL-c371t-1465a1af5c9463cd1914bb8ff44b715091b008bd6101b238f80a385b8fca9f4c3 |
| IEDL.DBID | AGYKE |
| ISSN | 2095-0233 |
| IngestDate | Tue Jul 01 05:13:23 EDT 2025 Thu Apr 24 23:01:49 EDT 2025 Fri Feb 21 02:25:58 EST 2025 Tue Feb 27 04:42:58 EST 2024 |
| IsDoiOpenAccess | true |
| IsOpenAccess | true |
| IsPeerReviewed | true |
| IsScholarly | true |
| Issue | 2 |
| Keywords | spherical parallel mechanism genetic algorithm tele-echography motion capture adaptative kalman filter |
| Language | English |
| License | This is an open-access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited. http://www.springer.com/tdm |
| LinkModel | DirectLink |
| MergedId | FETCHMERGED-LOGICAL-c371t-1465a1af5c9463cd1914bb8ff44b715091b008bd6101b238f80a385b8fca9f4c3 |
| Notes | spherical parallel mechanism genetic algorithm tele-echography adaptative kalman filter Document received on :2012-01-07 Document accepted on :2012-03-04 motion capture |
| OpenAccessLink | https://journal.hep.com.cn/fme/EN/10.1007/s11465-012-0326-3 |
| PageCount | 15 |
| ParticipantIDs | crossref_primary_10_1007_s11465_012_0326_3 crossref_citationtrail_10_1007_s11465_012_0326_3 springer_journals_10_1007_s11465_012_0326_3 higheredpress_frontiers_10_1007_s11465_012_0326_3 |
| ProviderPackageCode | CITATION AAYXX |
| PublicationCentury | 2000 |
| PublicationDate | 2012-06-01 |
| PublicationDateYYYYMMDD | 2012-06-01 |
| PublicationDate_xml | – month: 06 year: 2012 text: 2012-06-01 day: 01 |
| PublicationDecade | 2010 |
| PublicationPlace | Heidelberg |
| PublicationPlace_xml | – name: Heidelberg |
| PublicationSubtitle | Selected Publications from Chinese Universities |
| PublicationTitle | Frontiers of Mechanical Engineering |
| PublicationTitleAbbrev | Front Mech Eng Front. Mech. Eng |
| PublicationYear | 2012 |
| Publisher | Higher Education Press SP Higher Education Press |
| Publisher_xml | – name: Higher Education Press – name: SP Higher Education Press |
| References | Novales C. Télé-échographie Robotisée: Le projeteuropéen OTELO et son premier démonstrateur OTELO 1. Journée Nationale de la Recherche en Robotique, 2003 FraisseP.DauchezP.PierrotF.Robust force control strategy based on virtual environmentAdvanced Robotics Journal, Robotics Society of Japan20072134485498 Gourdon A, Poignet P, Poisson G, Vieyres P, Marché P. A new robotic mechanism for medical application. In: Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics, USA, 1999, 33–38 Gosselin C M, Hamel J F. The agile eye: a high-performance three-degree-of-freedom camera-orienting device. In: Proceedings of IEEE International Conference on Robotics and Automation, 1994, 781–786 AngelesJ.Ralionalli’in Cllwtics1988New YorkSpringer-Verlag ArbeilleP.RuizJ.HerveP.ChevillotM.PoissonG.PerrotinF.Fetal tele-echography using a robotic arm and a satellite linkUltrasound in Obstetrics & Gynecology200526322122610.1002/uog.1987 TriantafyllidisG. A.ThomosN.CaneroC.VieyresP.StrintzisM. G.A user interface for mobile robotized tele-echographyNuclear Instruments and Methods in Physics Research Section A: Accelerators, Spectrometers, Detectors and Associated Equipment2006569264564810.1016/j.nima.2006.08.062 CharronG.MoretteN.EssombaT.VieyresP.CanouJ.FraisseP.ZeghloulS.KrupaA.ArbeilleP.Robotic Platform for an Interactive Tele-echographic System: The PROSIT ANR-2008 Project2010LondonHamlyn Symposium on Medical Robotics Courrèges F, Smith N, Poisson G, Vieyres P, Gourdon A, Spzieg M, Merigeaux O. Real time exhibition of a simulated space tele-echography using an ultra-light robot. In: Proceedings of 6th International Symposium on Artificial Intelligence and Robotics & Automation in Space, Canadian Space Agency, St-Hubert, Quebec, Canada, 2001 Smith-Guérin N, Poisson G, Nouaille P. Optimization of a 4-DOF tele-echography robot. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, 3501–3506 Ryu J, Bonev I A. Orientation workspace analysis of 6-DOF parallel manipulators. In: Proceedings of the ASME Design Engineering Technical Conferences, Las Vegas, 1999 Laribi M A, Mlika A, Romdhana L, Zeghloul S. Design of spherical parallel mechanisms.4ième Congrès International Conception et Modélisation des Systèmes Mécaniques CMSM’2011, Sousse, Tunisia, 2011 LiuX. J.JinZ. L.GaoF.Optimum design of 3-DOF spherical parallel manipulators with respect to the conditioning and stiffness indicesMechanism and Machine Theory20003591257126710.1016/S0094-114X(99)00072-5 Ceccarelli M, Carbone G, Ottaviano E. An optimization problem approach for designing both serial and parallel manipulators. In: Proceedings of MUSME International Symposium on Multibody Systems and Mechatronics, Uberlandia, Brazil, 2005 ArbeilleP.CapriA.AyoubJ.KiefferV.PoissonG.Use of a robotic arm to tele-operated abdominal ultrasoundAmerican Journal of Roentgenology200718831732210.2214/AJR.05.0469 Laribi M A, Essomba T, Zeghloul S, Poisson G. Optimal synthesis of a new spherical parallel mechanism for application to teleechography chain. In: Proceedings of ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE, 2011 French patent noFR08/03046. Carte électronique et système comportant une pluralité de telles cartes. 2008 GosselinC.M.LavoieE.On the kinematic design of spherical three-degree-of-freedom manipulatorsThe International Journal of Robotics Research199312439440210.1177/027836499301200406 RehbinderH.HuX. M.Drift-free attitude estimation for accelerated rigid bodiesAutomatica200440465365921514841168.9340310.1016/j.automatica.2003.11.002 GazeauJ. P.ZeghloulS.RamirezG.Manipulation with a polyarticulated mechanical hand: A new efficient real-time method for computing fingertip forces for a global manipulation strategyRobotica200523447949010.1017/S0263574704001067 ZeghloulS.BlanchardB.AyraultM.SMAR: A robot modeling and simulation systemRobotica1997151637310.1017/S0263574797000088 DelgorgeC.CourrègesF.BassitL. A.NovalesC.RosenbergerC.Smith-GuerinN.BrùC.GilabertR.VannoniM.PoissonG.VieyresP.A tele-operated mobile ultrasound scanner using a light-weight robotProceedings of IEEE Transactions on Innovation Technology in Biomedicine20051505810.1109/TITB.2004.840062 WelchG.BishopG.An Introduction to the Kalman Filter2006New YorkACM Inc. Holland J H. Adoptation in Natural and Artificial Systems. 2nd ed. University of Michigan Press, 1992 AsadaH.GranitoJ.Kinematic and static characterization of wrist joints and their designProceedings of IEEE International Conference on Robotics and Automation19852244250 Vieyres P, Poisson G, Courrèges F, Mérigeaux O, Arbeille P. The TERESA project: from space research to ground tele-echography. Industrial Robot: An International Journal, 2003, 77–82 Mebarki R, Krupa A, Chaumette F. Image moments-based ultrasound visual servoing. In: Proceedings of IEEE International Conference on Robotics and Automation, Pasadena, 2008, 113–119 GosselinC.AngelesJ.The optimum kinematic design of a three-degree-of-freedom previous parallel manipulatorASME Journal of Mechanisms, Transmissions, and Automation in Design1989111220220710.1115/1.3258984 326_CR11 X. J. Liu (326_CR17) 2000; 35 326_CR15 G. A. Triantafyllidis (326_CR6) 2006; 569 P. Arbeille (326_CR10) 2007; 188 P. Fraisse (326_CR8) 2007; 21 326_CR19 326_CR18 326_CR2 326_CR1 C. Delgorge (326_CR3) 2005; 1 J. P. Gazeau (326_CR9) 2005; 23 J. Angeles (326_CR16) 1988 P. Arbeille (326_CR4) 2005; 26 H. Rehbinder (326_CR27) 2004; 40 H. Asada (326_CR12) 1985; 2 326_CR22 326_CR21 326_CR20 S. Zeghloul (326_CR23) 1997; 15 326_CR25 326_CR24 G. Charron (326_CR5) 2010 326_CR28 326_CR7 G. Welch (326_CR26) 2006 C. Gosselin (326_CR13) 1989; 111 C.M. Gosselin (326_CR14) 1993; 12 |
| References_xml | – reference: Holland J H. Adoptation in Natural and Artificial Systems. 2nd ed. University of Michigan Press, 1992 – reference: GosselinC.AngelesJ.The optimum kinematic design of a three-degree-of-freedom previous parallel manipulatorASME Journal of Mechanisms, Transmissions, and Automation in Design1989111220220710.1115/1.3258984 – reference: Courrèges F, Smith N, Poisson G, Vieyres P, Gourdon A, Spzieg M, Merigeaux O. Real time exhibition of a simulated space tele-echography using an ultra-light robot. In: Proceedings of 6th International Symposium on Artificial Intelligence and Robotics & Automation in Space, Canadian Space Agency, St-Hubert, Quebec, Canada, 2001 – reference: Vieyres P, Poisson G, Courrèges F, Mérigeaux O, Arbeille P. The TERESA project: from space research to ground tele-echography. Industrial Robot: An International Journal, 2003, 77–82 – reference: Laribi M A, Mlika A, Romdhana L, Zeghloul S. Design of spherical parallel mechanisms.4ième Congrès International Conception et Modélisation des Systèmes Mécaniques CMSM’2011, Sousse, Tunisia, 2011 – reference: Smith-Guérin N, Poisson G, Nouaille P. Optimization of a 4-DOF tele-echography robot. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, 3501–3506 – reference: TriantafyllidisG. A.ThomosN.CaneroC.VieyresP.StrintzisM. G.A user interface for mobile robotized tele-echographyNuclear Instruments and Methods in Physics Research Section A: Accelerators, Spectrometers, Detectors and Associated Equipment2006569264564810.1016/j.nima.2006.08.062 – reference: LiuX. J.JinZ. L.GaoF.Optimum design of 3-DOF spherical parallel manipulators with respect to the conditioning and stiffness indicesMechanism and Machine Theory20003591257126710.1016/S0094-114X(99)00072-5 – reference: AsadaH.GranitoJ.Kinematic and static characterization of wrist joints and their designProceedings of IEEE International Conference on Robotics and Automation19852244250 – reference: WelchG.BishopG.An Introduction to the Kalman Filter2006New YorkACM Inc. – reference: Gourdon A, Poignet P, Poisson G, Vieyres P, Marché P. A new robotic mechanism for medical application. In: Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics, USA, 1999, 33–38 – reference: CharronG.MoretteN.EssombaT.VieyresP.CanouJ.FraisseP.ZeghloulS.KrupaA.ArbeilleP.Robotic Platform for an Interactive Tele-echographic System: The PROSIT ANR-2008 Project2010LondonHamlyn Symposium on Medical Robotics – reference: ZeghloulS.BlanchardB.AyraultM.SMAR: A robot modeling and simulation systemRobotica1997151637310.1017/S0263574797000088 – reference: RehbinderH.HuX. M.Drift-free attitude estimation for accelerated rigid bodiesAutomatica200440465365921514841168.9340310.1016/j.automatica.2003.11.002 – reference: Novales C. Télé-échographie Robotisée: Le projeteuropéen OTELO et son premier démonstrateur OTELO 1. Journée Nationale de la Recherche en Robotique, 2003 – reference: French patent noFR08/03046. Carte électronique et système comportant une pluralité de telles cartes. 2008 – reference: ArbeilleP.CapriA.AyoubJ.KiefferV.PoissonG.Use of a robotic arm to tele-operated abdominal ultrasoundAmerican Journal of Roentgenology200718831732210.2214/AJR.05.0469 – reference: GosselinC.M.LavoieE.On the kinematic design of spherical three-degree-of-freedom manipulatorsThe International Journal of Robotics Research199312439440210.1177/027836499301200406 – reference: Ceccarelli M, Carbone G, Ottaviano E. An optimization problem approach for designing both serial and parallel manipulators. In: Proceedings of MUSME International Symposium on Multibody Systems and Mechatronics, Uberlandia, Brazil, 2005 – reference: GazeauJ. P.ZeghloulS.RamirezG.Manipulation with a polyarticulated mechanical hand: A new efficient real-time method for computing fingertip forces for a global manipulation strategyRobotica200523447949010.1017/S0263574704001067 – reference: ArbeilleP.RuizJ.HerveP.ChevillotM.PoissonG.PerrotinF.Fetal tele-echography using a robotic arm and a satellite linkUltrasound in Obstetrics & Gynecology200526322122610.1002/uog.1987 – reference: Mebarki R, Krupa A, Chaumette F. Image moments-based ultrasound visual servoing. In: Proceedings of IEEE International Conference on Robotics and Automation, Pasadena, 2008, 113–119 – reference: DelgorgeC.CourrègesF.BassitL. A.NovalesC.RosenbergerC.Smith-GuerinN.BrùC.GilabertR.VannoniM.PoissonG.VieyresP.A tele-operated mobile ultrasound scanner using a light-weight robotProceedings of IEEE Transactions on Innovation Technology in Biomedicine20051505810.1109/TITB.2004.840062 – reference: Laribi M A, Essomba T, Zeghloul S, Poisson G. Optimal synthesis of a new spherical parallel mechanism for application to teleechography chain. In: Proceedings of ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE, 2011 – reference: FraisseP.DauchezP.PierrotF.Robust force control strategy based on virtual environmentAdvanced Robotics Journal, Robotics Society of Japan20072134485498 – reference: Ryu J, Bonev I A. Orientation workspace analysis of 6-DOF parallel manipulators. In: Proceedings of the ASME Design Engineering Technical Conferences, Las Vegas, 1999 – reference: Gosselin C M, Hamel J F. The agile eye: a high-performance three-degree-of-freedom camera-orienting device. In: Proceedings of IEEE International Conference on Robotics and Automation, 1994, 781–786 – reference: AngelesJ.Ralionalli’in Cllwtics1988New YorkSpringer-Verlag – ident: 326_CR21 – volume: 21 start-page: 485 issue: 34 year: 2007 ident: 326_CR8 publication-title: Advanced Robotics Journal, Robotics Society of Japan doi: 10.1163/156855307780132018 – ident: 326_CR1 doi: 10.1109/AIM.1999.803139 – volume: 23 start-page: 479 issue: 4 year: 2005 ident: 326_CR9 publication-title: Robotica doi: 10.1017/S0263574704001067 – ident: 326_CR25 – ident: 326_CR7 doi: 10.1109/ROBOT.2008.4543195 – volume: 35 start-page: 1257 issue: 9 year: 2000 ident: 326_CR17 publication-title: Mechanism and Machine Theory doi: 10.1016/S0094-114X(99)00072-5 – volume: 2 start-page: 244 year: 1985 ident: 326_CR12 publication-title: Proceedings of IEEE International Conference on Robotics and Automation – volume: 26 start-page: 221 issue: 3 year: 2005 ident: 326_CR4 publication-title: Ultrasound in Obstetrics & Gynecology doi: 10.1002/uog.1987 – ident: 326_CR15 – ident: 326_CR11 doi: 10.1109/IROS.2010.5649680 – volume: 188 start-page: 317 year: 2007 ident: 326_CR10 publication-title: American Journal of Roentgenology doi: 10.2214/AJR.05.0469 – volume: 12 start-page: 394 issue: 4 year: 1993 ident: 326_CR14 publication-title: The International Journal of Robotics Research doi: 10.1177/027836499301200406 – ident: 326_CR22 – volume: 1 start-page: 50 year: 2005 ident: 326_CR3 publication-title: Proceedings of IEEE Transactions on Innovation Technology in Biomedicine doi: 10.1109/TITB.2004.840062 – ident: 326_CR18 doi: 10.1115/DETC2011-47184 – ident: 326_CR19 doi: 10.1115/DETC99/DAC-8646 – ident: 326_CR28 – ident: 326_CR24 – ident: 326_CR20 – volume: 111 start-page: 202 issue: 2 year: 1989 ident: 326_CR13 publication-title: ASME Journal of Mechanisms, Transmissions, and Automation in Design doi: 10.1115/1.3258984 – volume: 40 start-page: 653 issue: 4 year: 2004 ident: 326_CR27 publication-title: Automatica doi: 10.1016/j.automatica.2003.11.002 – volume-title: Ralionalli’in Cllwtics year: 1988 ident: 326_CR16 – volume-title: An Introduction to the Kalman Filter year: 2006 ident: 326_CR26 – ident: 326_CR2 – volume: 15 start-page: 63 issue: 1 year: 1997 ident: 326_CR23 publication-title: Robotica doi: 10.1017/S0263574797000088 – volume-title: Robotic Platform for an Interactive Tele-echographic System: The PROSIT ANR-2008 Project year: 2010 ident: 326_CR5 – volume: 569 start-page: 645 issue: 2 year: 2006 ident: 326_CR6 publication-title: Nuclear Instruments and Methods in Physics Research Section A: Accelerators, Spectrometers, Detectors and Associated Equipment doi: 10.1016/j.nima.2006.08.062 |
| SSID | ssj0002025523 |
| Score | 1.9047942 |
| Snippet | This paper introduces the design of a master-slave robotized system for tele-ultrasound application. The objective of these researches is to design the slave... |
| SourceID | crossref springer higheredpress |
| SourceType | Enrichment Source Index Database Publisher |
| StartPage | 135 |
| SubjectTerms | adaptative kalman filter Engineering genetic algorithm Mechanical Engineering motion capture Research Article spherical parallel mechanism tele-echography |
| Title | Contribution to the design of robotized tele-echography system |
| URI | https://journal.hep.com.cn/fme/EN/10.1007/s11465-012-0326-3 https://link.springer.com/article/10.1007/s11465-012-0326-3 |
| Volume | 7 |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| link | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV1LSwMxEB5se1HEt1gfJQdPSspmk-1mL0IRa1H0ZEFPy-aFonSlbi_99SbZXWtVCt4ny-QxmW-TL98AnAYyi6TF9tioKMBMS42TnkkwkYTGTFMeei29u_vecMRuHqPH6h33R812r68k_U49f-xmg9oRzUIcWMyBaQNaEeEJb0Krf_10Oz9aCR1O9oXdwsC_P6a0vs_86zsLGWn92dMrtPI01F_Xoz7rDDbhofa3JJu8dqeF6MrZDynHf3ZoCzYqFIr65bLZhhU93oG1b9qEu3DhdKvqalioyJFFikh5vgfKDZrkIi9eZlqhwiYurO0uWmpfo1Ibeg9Gg6uHyyGuii1gSWNSYOdLRjITyYT1qFRO900IbgxjIiYOVtgA5UJZuEWEzfOGBxnlkbWQWWKYpPvQHOdjfQAoUoYQY5QIJGFKUB6HFqbYH7kslLEmsg1BPeCprJTIXUGMt3SuoezcSe3QpG5oUtqGs68m76UMxzJjsjCLqXFaEK6y-LI25_UkpVUUL7E-_Jf1EayGfpbd2c0xNIvJVJ9YKFOITrV0O9AYhf1PMUnnuw |
| linkProvider | Springer Nature |
| linkToHtml | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV3JTsMwEB1BOQBC7IgdHziBjOzYadILEkJAgbanViqnKN4EAjWopJd-PbaTUDZV6n0cTWyP59l-fgNwSmQaSovtsVEhwVxLjRt108BUUhZxzeLAa-m1O_Vmjz_0w375jvujYrtXV5J-pZ48drNB7YhmASYWc2A2DwvcbsFJDRau7p4eJ0crgcPJvrBbQPz7Y8aq-8z_vvMjI608e3qFVp6G-ud61Ged2zXoVv4WZJPXi1EuLuT4l5TjjD-0DqslCkVXxbTZgDk92ITlb9qEW3DpdKuqalgoz5BFikh5vgfKDBpmIstfxlqh3CYurO0qWmhfo0Ibeht6tzfd6yYuiy1gySKaY-dLSlMTygavM6mc7psQsTGci4g6WGEDNBbKwi0qbJ43MUlZHFoLmTYMl2wHaoNsoHcBhcpQaowSRFKuBIujwMIUu5FLAxlpKveAVB2eyFKJ3BXEeEsmGsrOncR2TeK6JmF7cPbV5L2Q4ZhmTH-MYmKcFoSrLD6tzXk1SEkZxVOs92eyPoHFZrfdSlr3nccDWAr8iLtznEOo5cORPrKwJhfH5TT-BJNH6a8 |
| linkToPdf | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV1LSwMxEA5aQRQRn1ifOXhSQjePfV2Eopb6Kh4s9BY2LxRkt9T14q83ye62FqXgfbKEyUzm28zMNwCcBzILpcX2yKgwQExLjdLIpAhLTGOmaUI8l97TIOoP2f0oHNVzTj-aavcmJVn1NDiWprzsjJXpzBrfrIO7ojOCAos_EF0GK_Y2xs7Qh6Q7fWQhDjH7EW8k8J3IlDaZzb--MhebNl59oYVWviD1V6LUx5_eFtisgSPsVie9DZZ0vgPWf9AJ7oIrRzXVDLCCZQEtuIPKl2jAwsBJIYry7UsrWNpYg7S9-Cq6aljROe-BYe_25bqP6vkISNIYl8jtPsOZCWXKIiqVo2oTIjGGMRFjhwSsTyVCWYSEhQ3NJgkymoRWQmapYZLug1Ze5PoAwFAZjI1RIpCYKUGTmFhkYf-9MiJjjWUbBI1muKzJw90Mi3c-oz122-FWmdwpk9M2uJguGVfMGYuE8Zy6uXH0DW4Y-KI1l82R8NrxFkgf_kv6DKw-3_T4493g4QisEW8i7uXlGLTKyac-sUCkFKfe2L4Bm6vRMg |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Contribution+to+the+design+of+robotized+tele-echography+system&rft.jtitle=Frontiers+of+Mechanical+Engineering&rft.au=Essomba%2C+T.&rft.au=Laribi%2C+M.+A.&rft.au=Gazeau%2C+J.+P.&rft.au=Zeghloul%2C+S.&rft.date=2012-06-01&rft.issn=2095-0233&rft.eissn=2095-0241&rft.volume=7&rft.issue=2&rft.spage=135&rft.epage=149&rft_id=info:doi/10.1007%2Fs11465-012-0326-3&rft.externalDBID=n%2Fa&rft.externalDocID=10_1007_s11465_012_0326_3 |
| thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=2095-0233&client=summon |
| thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=2095-0233&client=summon |
| thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=2095-0233&client=summon |