Section: Software

Development work: Medical robotics platforms

Participants : Fabien Spindler [correspondant] , Alexandre Krupa.

This platform is composed by two robots, a six degrees of freedom Hippocrate medical arm designed by the Sinters company (see Fig. 3 .a) and an Adept Viper S850 arm (see Fig. 3 .b). Ultrasound probes connected either to a SonoSite 180 Plus or an Ultrasonix SonixTouch imaging system can be mounted on a force torque sensor attached to the robot end-effector.

The research and experiments concerning ultrasound visual servoing applied to positioning or tracking tasks conducted with this medical robotics platforms are described in Section  6.3 . Note that 4 papers published in 2011 by Lagadic enclose results validated on it.

Figure 3. Lagadic medical robotics platforms: a) Hippocrate medical robot, b) Viper robot arm equiped with a SonixTouch 3D ultrasound probe.

(a) (b)