Conception optimale d'instruments robotisés à haute mobilité pour la chirurgie mini-invasive

摘要

This researcher focuses on the optimal design of high mobility robotized systems for minimally invasive surgery. It uses an optimization process based on multi-objective evolutionnary algorithms, coupled to a realistic simulation taking into account all the parameters required for a correct evaluation of the robotic system. This methodology has been applied to the suturing operation of a coronary artery bypass grafting. It leads to the design of a surgical robotized instrument, of 10mm diameter and 9 degrees of freedom : DRIMIS. A prototype has been developped and evaluated.