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Contribution à la conception d'un système robotisé pour la télé-échographie

Author: Terence EssombaGérard PoissonSaïd ZeghloulUniversité d'Orléans.École doctorale Mathématiques, Informatique, Physique Théorique et Ingénierie des Systèmes (Centre-Val de Loire).All authors
Publisher: 2012.
Dissertation: Thèse de doctorat : Sciences et technologie industrielle : Orléans : 2012.
Edition/Format:   Computer file : Document : Thesis/dissertation : French
Summary:
L'apparition de la télé-échographie à la fin des années 1990 a largement contribué à l'améliorationdes capacités de prise en charge des patients. Aujourd'hui, le laboratoire PRISME bénéficie d'unsavoir faire reconnu dans la conception de systèmes de télé-échographie robotisée. L'objectif deces travaux de thèse est d'apporter une contribution scientifique et technique au projet ANR-PROSIT,qui vise à
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Details

Genre/Form: Thèses et écrits académiques
Material Type: Document, Thesis/dissertation, Internet resource
Document Type: Internet Resource, Computer File
All Authors / Contributors: Terence Essomba; Gérard Poisson; Saïd Zeghloul; Université d'Orléans.; École doctorale Mathématiques, Informatique, Physique Théorique et Ingénierie des Systèmes (Centre-Val de Loire).; Institut Pluridisciplinaire de recherche en ingénierie des systèmes, mécanique et énergétique (Orléans / 2008-).
OCLC Number: 867912285
Notes: Titre provenant de l'écran-titre.
Description: 1 online resource
Responsibility: Terence Essomba ; sous la direction de Gérard Poisson et de Saïd Zeghloul.

Abstract:

L'apparition de la télé-échographie à la fin des années 1990 a largement contribué à l'améliorationdes capacités de prise en charge des patients. Aujourd'hui, le laboratoire PRISME bénéficie d'unsavoir faire reconnu dans la conception de systèmes de télé-échographie robotisée. L'objectif deces travaux de thèse est d'apporter une contribution scientifique et technique au projet ANR-PROSIT,qui vise à la mise en oeuvre d'un robot de télé-échographie innovant. Une étude du geste du praticienen milieu clinique a été menée afin d'en déterminer les caractéristiques cinématiques. Réalisée àl'aide du système de capture de mouvement Vicon Nexus, cette analyse a contribué à l'établissementdes spécifications du futur robot. Sa structure mécanique a fait l'objet d'une attention particulière. Unearchitecture parallèle sphérique a été sélectionnée, étudiée puis optimisée via un algorithmegénétique en fonction des critères d'espace de travail, de dextérité et de compacité. L'architectureainsi obtenue est ensuite analysée sur des aspects de collisions et d'inaccessibilité. Pour le contrôlede ce robot, l'utilisation d'une interface haptique à l'aspect proche d'une sonde d'échographie estproposée. Dotée d'un système de retour d'effort et d'une centrale inertielle fiabilisée par un filtre deKalman adaptatif, cette nouvelle interface a été testée et validée par le système Vicon Nexus.

Since the end of the nineties, the tele-echography has been contributing to improve the taking carecapacities of patients. Today, the PRISME laboratory has a recognized expertise in the design ofrobotic tele-echography systems. The objective of this thesis is to provide scientific and technicalsupport to the ANR-PROSIT project. It aims to design of an innovative tele-echography robot. Anexpert gesture study has been carried out in clinical environment to determine its kinematiccharacteristics. It has been performed using the motion capture system Vicon Nexus and itcontributed to establish the specifications of the future robot. The mechanic structure of this robot hasbeen minutely taken in consideration. The spherical parallel mechanism has been selected, studiedand optimized using a genetic algorithm with respect of criterion such as workspace, dexterity andcompacity. The resulted architecture is then analyzed regarding collisions and inaccessibilityaspects. To control this robot, the use of a haptic device with the same shape of an ultrasound probeis proposed. It provides force feedback and it is instrumented with an inertial measurement unit,processed by an adaptative Kalman filter. This new interface has been tested and validated by ViconNexus system.

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Today, the PRISME laboratory has a recognized expertise in the design ofrobotic tele-echography systems. The objective of this thesis is to provide scientific and technicalsupport to the ANR-PROSIT project. It aims to design of an innovative tele-echography robot. Anexpert gesture study has been carried out in clinical environment to determine its kinematiccharacteristics. It has been performed using the motion capture system Vicon Nexus and itcontributed to establish the specifications of the future robot. The mechanic structure of this robot hasbeen minutely taken in consideration. The spherical parallel mechanism has been selected, studiedand optimized using a genetic algorithm with respect of criterion such as workspace, dexterity andcompacity. The resulted architecture is then analyzed regarding collisions and inaccessibilityaspects. To control this robot, the use of a haptic device with the same shape of an ultrasound probeis proposed. It provides force feedback and it is instrumented with an inertial measurement unit,processed by an adaptative Kalman filter. This new interface has been tested and validated by ViconNexus system.<\/span>\"@fr<\/a> ;\u00A0\u00A0\u00A0\nschema:description<\/a> \"L\'apparition de la t\u00E9l\u00E9-\u00E9chographie \u00E0 la fin des ann\u00E9es 1990 a largement contribu\u00E9 \u00E0 l\'am\u00E9liorationdes capacit\u00E9s de prise en charge des patients. Aujourd\'hui, le laboratoire PRISME b\u00E9n\u00E9ficie d\'unsavoir faire reconnu dans la conception de syst\u00E8mes de t\u00E9l\u00E9-\u00E9chographie robotis\u00E9e. L\'objectif deces travaux de th\u00E8se est d\'apporter une contribution scientifique et technique au projet ANR-PROSIT,qui vise \u00E0 la mise en oeuvre d\'un robot de t\u00E9l\u00E9-\u00E9chographie innovant. Une \u00E9tude du geste du praticienen milieu clinique a \u00E9t\u00E9 men\u00E9e afin d\'en d\u00E9terminer les caract\u00E9ristiques cin\u00E9matiques. R\u00E9alis\u00E9e \u00E0l\'aide du syst\u00E8me de capture de mouvement Vicon Nexus, cette analyse a contribu\u00E9 \u00E0 l\'\u00E9tablissementdes sp\u00E9cifications du futur robot. Sa structure m\u00E9canique a fait l\'objet d\'une attention particuli\u00E8re. Unearchitecture parall\u00E8le sph\u00E9rique a \u00E9t\u00E9 s\u00E9lectionn\u00E9e, \u00E9tudi\u00E9e puis optimis\u00E9e via un algorithmeg\u00E9n\u00E9tique en fonction des crit\u00E8res d\'espace de travail, de dext\u00E9rit\u00E9 et de compacit\u00E9. L\'architectureainsi obtenue est ensuite analys\u00E9e sur des aspects de collisions et d\'inaccessibilit\u00E9. Pour le contr\u00F4lede ce robot, l\'utilisation d\'une interface haptique \u00E0 l\'aspect proche d\'une sonde d\'\u00E9chographie estpropos\u00E9e. 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<http:\/\/experiment.worldcat.org\/entity\/work\/data\/1756943575#Thing\/filtre_de_kalman<\/a>> # Filtre de Kalman<\/span>\n\u00A0\u00A0\u00A0\u00A0a \nschema:Thing<\/a> ;\u00A0\u00A0\u00A0\nschema:name<\/a> \"Filtre de Kalman<\/span>\" ;\u00A0\u00A0\u00A0\u00A0.\n\n\n<\/div>\n
<http:\/\/experiment.worldcat.org\/entity\/work\/data\/1756943575#Thing\/interface_haptique<\/a>> # Interface haptique<\/span>\n\u00A0\u00A0\u00A0\u00A0a \nschema:Thing<\/a> ;\u00A0\u00A0\u00A0\nschema:name<\/a> \"Interface haptique<\/span>\" ;\u00A0\u00A0\u00A0\u00A0.\n\n\n<\/div>\n
<http:\/\/experiment.worldcat.org\/entity\/work\/data\/1756943575#Thing\/retour_d_effort<\/a>> # Retour d\'effort<\/span>\n\u00A0\u00A0\u00A0\u00A0a \nschema:Thing<\/a> ;\u00A0\u00A0\u00A0\nschema:name<\/a> \"Retour d\'effort<\/span>\" ;\u00A0\u00A0\u00A0\u00A0.\n\n\n<\/div>\n
<http:\/\/experiment.worldcat.org\/entity\/work\/data\/1756943575#Thing\/tele_echographie_robotisee<\/a>> # T\u00E9l\u00E9-\u00E9chographie robotis\u00E9e<\/span>\n\u00A0\u00A0\u00A0\u00A0a \nschema:Thing<\/a> ;\u00A0\u00A0\u00A0\nschema:name<\/a> \"T\u00E9l\u00E9-\u00E9chographie robotis\u00E9e<\/span>\" ;\u00A0\u00A0\u00A0\u00A0.\n\n\n<\/div>\n
<http:\/\/experiment.worldcat.org\/entity\/work\/data\/1756943575#Thing\/vicon_nexus<\/a>> # Vicon Nexus<\/span>\n\u00A0\u00A0\u00A0\u00A0a \nschema:Thing<\/a> ;\u00A0\u00A0\u00A0\nschema:name<\/a> \"Vicon Nexus<\/span>\" ;\u00A0\u00A0\u00A0\u00A0.\n\n\n<\/div>\n
<http:\/\/experiment.worldcat.org\/entity\/work\/data\/1756943575#Topic\/algorithmes_genetiques<\/a>> # Algorithmes g\u00E9n\u00E9tiques<\/span>\n\u00A0\u00A0\u00A0\u00A0a \nschema:Intangible<\/a> ;\u00A0\u00A0\u00A0\nschema:name<\/a> \"Algorithmes g\u00E9n\u00E9tiques<\/span>\"@fr<\/a> ;\u00A0\u00A0\u00A0\u00A0.\n\n\n<\/div>\n
<http:\/\/experiment.worldcat.org\/entity\/work\/data\/1756943575#Topic\/echographie<\/a>> # \u00C9chographie<\/span>\n\u00A0\u00A0\u00A0\u00A0a \nschema:Intangible<\/a> ;\u00A0\u00A0\u00A0\nschema:name<\/a> \"\u00C9chographie<\/span>\"@fr<\/a> ;\u00A0\u00A0\u00A0\u00A0.\n\n\n<\/div>\n
<http:\/\/experiment.worldcat.org\/entity\/work\/data\/1756943575#Topic\/kalman_filtrage_de<\/a>> # Kalman, Filtrage de<\/span>\n\u00A0\u00A0\u00A0\u00A0a \nschema:Intangible<\/a> ;\u00A0\u00A0\u00A0\nschema:name<\/a> \"Kalman, Filtrage de<\/span>\"@fr<\/a> ;\u00A0\u00A0\u00A0\u00A0.\n\n\n<\/div>\n
<http:\/\/experiment.worldcat.org\/entity\/work\/data\/1756943575#Topic\/robotique_en_medecine<\/a>> # Robotique en m\u00E9decine<\/span>\n\u00A0\u00A0\u00A0\u00A0a \nschema:Intangible<\/a> ;\u00A0\u00A0\u00A0\nschema:name<\/a> \"Robotique en m\u00E9decine<\/span>\"@fr<\/a> ;\u00A0\u00A0\u00A0\u00A0.\n\n\n<\/div>\n
<http:\/\/id.loc.gov\/vocabulary\/countries\/fr<\/a>>\u00A0\u00A0\u00A0\u00A0a \nschema:Place<\/a> ;\u00A0\u00A0\u00A0\ndcterms:identifier<\/a> \"fr<\/span>\" ;\u00A0\u00A0\u00A0\u00A0.\n\n\n<\/div>\n
<http:\/\/www.theses.fr\/2012ORLE2074\/document<\/a>>\u00A0\u00A0\u00A0\nrdfs:comment<\/a> \"Acc\u00E8s au texte int\u00E9gral<\/span>\" ;\u00A0\u00A0\u00A0\u00A0.\n\n\n<\/div>\n
<http:\/\/www.worldcat.org\/title\/-\/oclc\/867912285<\/a>>\u00A0\u00A0\u00A0\u00A0a \ngenont:InformationResource<\/a>, genont:ContentTypeGenericResource<\/a> ;\u00A0\u00A0\u00A0\nschema:about<\/a> <http:\/\/www.worldcat.org\/oclc\/867912285<\/a>> ; # Contribution \u00E0 la conception d\'un syst\u00E8me robotis\u00E9 pour la t\u00E9l\u00E9-\u00E9chographie<\/span>\n\u00A0\u00A0\u00A0\nschema:dateModified<\/a> \"2020-10-11<\/span>\" ;\u00A0\u00A0\u00A0\nvoid:inDataset<\/a> <http:\/\/purl.oclc.org\/dataset\/WorldCat<\/a>> ;\u00A0\u00A0\u00A0\u00A0.\n\n\n<\/div>\n\n

Content-negotiable representations<\/p>\n