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Register a new userAnalyse du besoin en assistance robotique dans la chirurgie de loreille
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Added by
Damien Chablat
Publication date
2019
fields
Informatics Engineering
and research's language is
English
Authors
G. Michel
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No Arabic abstract
Otologic surgery has some specificities compared to others surgeries. The anatomic working space is small, with various anatomical structures to preserve, like ossicles or facial nerve. This requires the use of microscope or endoscope. The microscope let the surgeon use both hands, but allows only direct vision. The endoscope leaves only one hand to the surgeon to use his tools, but provides a fish-eye vision. The rise of endoscopy these past few years has led to the development of numerous devices for the surgeon: the Robotol, first otological robot designed to performed some movements and hold an endoscope, or the Endofix Exo. Both devices need the hand of the surgeon to be moved. No robotic device allows the endoscope to be directed autonomously while the surgeon keeps both hands free to work, just like when he is working with a microscope. The objective of our work is to define the specific needs of the otological assistance surgery.
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The paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensional lumped-parameter model that replaces the link flexibility by localized 6-d.o.f. virtual springs. In contrast to other works, the method includes a FEA-based link stiffness evaluation and employs a new solution strategy of the kinetostatic equations, which allows computing the stiffness matrix for the overconstrained architectures and for the singular manipulator postures. The advantages of the developed technique are confirmed by application examples, which deal with comparative stiffness analysis of two translational parallel manipulators.
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Let X_d be the p-adic analytic space classifying the d-dimensional (semisimple) p-adic Galois representations of the absolute Galois group of Q_p. We show that the crystalline representations are Zarski-dense in many irreducible components of X_d, including the components made of residually irreducible representations. This extends to any dimension d previous results of Colmez and Kisin for d = 2. For this we construct an analogue of the infinite fern of Gouv^ea-Mazur in this context, based on a study of analytic families of trianguline (phi,Gamma)-modules over the Robba ring. We show in particular the existence of a universal family of (framed, regular) trianguline (phi,Gamma)-modules, as well as the density of the crystalline (phi,Gamma)-modules in this family. These results may be viewed as a local analogue of the theory of p-adic families of finite slope automorphic forms, they are new already in dimension 2. The technical heart of the paper is a collection of results about the Fontaine-Herr cohomology of families of trianguline (phi,Gamma)-modules.
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