Kinematic Optimization for the Design of a Collaborative Robot End-Effector for Tele-Echography

Tele-examination based on robotic technologies is a promising solution to solve the current worsening shortage of physicians. Echocardiography among examinations that would benefit more from solutions. However, most state-of-the-art solutions are development specific arms, instead exploiting COTS (commercial-off-the-shelf) arms reduce costs and make such systems affordable. In this paper, we address problem by studying design an end-effector for tele-echography be mounted two popular low-cost collaborative robots, i.e., Universal Robot UR5, Franka Emika Panda. case UR5 robot, investigate possibility adding seventh rotational degree freedom. The obtained kinematic optimization, in which manipulability measure objective function. optimization domain includes position patient with regards robot base pose frame. Constraints include full coverage examination area, orient probe correctly, have far enough patient’s head, suitable distance singularities. results show freedom improves 65% custom-designed actuated joint better than adopting native seven-degrees-freedom robot.