耳科手術支援のための外科医参加型パラレルロボットの共同設計
Enhancing Otological Surgery: Co-Designing a Parallel Robot with Surgeon Input
耳科手術用パラレルマニピュレータを、外科医や設計者・人間工学専門家・製造者らが共同設計するプロセスを提案し、最適化の効率化と実用化の迅速化を図った。
著者: Durgesh Haribhau Salunkhe, Guillaume Michel, Shivesh Kumar, Damien Chablat
分類: cs.RO
原文アブストラクト
This work presents the development of a parallel manipulator used for otological surgery from the perspective of co-design. Co-design refers to the simultaneous involvement of the end-users (surgeons), stakeholders (designers, ergonomic experts, manufacturers), and experts from the fields of optimization and mechanisms. The role of each member is discussed in detail and the interactions between the stakeholders are presented. Co-design facilitates a reduction in the parameter space considered during mechanism optimization, leading to a more efficient design process. Additionally, the co-design principles help avoid unforeseen errors and help in quicker adaptation of the proposed solution.
