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This paper deals with the optimization of the design of a 4 degree-of-freedom robot dedicated to tele-echography. It has been designed to reproduce in real time on a patient, the medical gestures performed by a remote expert moving a fictive probe. Our goal is to optimize the kinematic structure to determine geometrical parameters, as they have a significant role in the singularities localization...
This work deals with modeling for the design of a four degree-of-freedom robot dedicated to tele-echography. It is designed to follow the medical gestures of a remote expert moving an ultrasound probe. The goal is to define the kinematic structure with optimal geometric parameters. These parameters have an important role in the robot singularities positions corresponding to the most current medical...
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