@inproceedings{c790cd8a58cc4dd9962b73101fccd5a2,
title = "Contribution to the mechanical behavior improvement of the robotic navigation device surgiscope{\textregistered}",
abstract = "This paper proposes a new solution to the problem of torque minimization of the medical device SurgiScope{\textregistered} by connecting to the initial structure a secondary mechanical system, which generates a vertical constant force on the platform of the robotized device. The conditions for optimization are formulated by the minimization of the root-mean-square values of the input torques of the studied device. The positioning errors of the unbalanced and balanced robots are provided. A significant reduction of these errors is achieved by using the suggested balancing mechanism. The efficiency of the developed approach is illustrated by numerical simulations. Experimental validation of the obtained optimization is illustrated by a prototype developed in the National Institute of Applied Sciences of Rennes in collaboration with the {"}Intelligent Surgical Instruments \& Systems{"} (ISIS1) Company.",
author = "S{\'e}bastien Briot and C{\'e}dric Baradat and Sylvain Gu{\'e}gan and Vigen Arakelian",
year = "2008",
language = "English",
isbn = "0791848027",
series = "2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007",
pages = "653--661",
booktitle = "2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007",
note = "31st Mechanisms and Robotics Conference, presented at - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2007 ; Conference date: 04-09-2007 Through 07-09-2007",
}