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Development of a novel hybrid haptic (nHH) device with a remote center of rotation dedicated to laparoscopic surgery

Published online by Cambridge University Press:  25 July 2023

Majdi Meskini ,
Houssem Saafi Open the ORCID record for Houssem Saafi [Opens in a new window] ,
Abdelfattah Mlika ,
Marc Arsicault ,
Said Zeghloul  and
Med Amine Laribi Open the ORCID record for Med Amine Laribi [Opens in a new window]
Majdi Meskini
Affiliation:
Mechanical Laboratory of Sousse (LMS), National Engineering School of Sousse, University of Sousse, Sousse, Tunisia Department GMSC—Pprime Institute, CNRS—University of Poitiers—ENSMA, Poitiers 86073, France
Houssem Saafi
Affiliation:
Mechanical Laboratory of Sousse (LMS), National Engineering School of Sousse, University of Sousse, Sousse, Tunisia Preparatory Institute for Engineering Studies of Gafsa, University of Gafsa, Gafsa, Tunisia
Abdelfattah Mlika
Affiliation:
Mechanical Laboratory of Sousse (LMS), National Engineering School of Sousse, University of Sousse, Sousse, Tunisia
Marc Arsicault
Affiliation:
Department GMSC—Pprime Institute, CNRS—University of Poitiers—ENSMA, Poitiers 86073, France
Said Zeghloul
Affiliation:
Department GMSC—Pprime Institute, CNRS—University of Poitiers—ENSMA, Poitiers 86073, France
Med Amine Laribi*
Affiliation:
Department GMSC—Pprime Institute, CNRS—University of Poitiers—ENSMA, Poitiers 86073, France
*
Corresponding author: Med Amine Laribi; Email: [email protected]
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Abstract

This paper focuses on developing a novel hybrid-haptic (nHH) device with a remote center of rotation with 4 DOFs (degrees of freedom) intendant to be used as a haptic device. The new architecture is composed of two chains handling each one a part of the motions. It has the advantages of a parallel robot as high stiffness and accuracy, and the large workspace of the serial robots. The optimal synthesis of the nHH was performed using real-coded genetic algorithms. The optimization criteria and constraints were established and successively formulated and solved using a mono-objective function. A validation and comparison study were performed between the spherical parallel manipulator and the nHH. The obtained results are promising since the nHH is compared to other similar task devices, such as spherical parallel manipulator, and presents a suitable kinematic performance with a task workspace free singularity inside.

Keywords

haptic deviceslaparoscopic surgerygenetic algorithm (GA)optimization problemsimulationdexterityserial robotsparallel robots
Type
Research Article
Information
Robotica , Volume 41 , Issue 10 , October 2023 , pp. 3175 - 3194
Copyright
© The Author(s), 2023. Published by Cambridge University Press

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