arXiv subjects

Abdelbadia Chaker

Publications and source records attributed to Abdelbadia Chaker.

4 recordsLinked to original sources

arXiv2026

Facade Inspection: Design, Prototyping, and Testing of a Hybrid Cable-Driven Parallel Robot

In the field of architecture, early detection of damage or degradation of building facades has become increasingly vital due to the need for continuous monitoring of structural integrity. Traditional methods, such as visual inspections, are being supplemented by technological advancements, especially in robotics, which offer innovative solutions for more efficient and precise inspections. This work focuses on the development of a five degree of freedom hybrid cable-driven parallel robot designed for vertical facade inspections. A detailed robot's design and CAD modeling, with a particular focus on a torque transmission mechanism that simplifies the motion of two cables using a single motor is presented. Two degrees of freedom are driven by cables, while the remaining three are driven by a Sarrus-type mechanism and a pan-tilt mechanism. The inverse kinematics models are also developed. A prototype is presented, involving additive manufacturing. A control system for tracking a zig-zag trajectory, commonly used in inspection tasks, was experimentally validated.

physics.class-ph↗

arXiv2026

Primary Experimental Feedback on a Co-manipulated Robotic System for Assisted Cervical Surgery

Robotic-assisted surgery has emerged as a promising approach to improve surgical ergonomics, precision, and workflow efficiency, particularly in complex procedures such as cervical spine surgery. In this study, we evaluate the performance of a collaborative robotic system designed to assist surgeons in drilling tasks by assessing its accuracy in executing predefined trajectories. A total of 14 drillings were performed by eight experienced cervical surgeons, utilizing a robotic-assisted setup aimed at ensuring stability and alignment. The primary objective of this study is to quantify the deviations in the position and orientation of the drilling tool relative to the planned trajectory, providing insights into the system's reliability and potential impact on clinical outcomes. While the primary function of robotic assistance in surgery is to enhance surgeon comfort and procedural guidance rather than solely optimizing precision, understanding the system's accuracy remains crucial for its effective integration into surgical practices part of this primary experimental feedback, the study offers an in-depth analysis of the co-manipulated robotic system's performance, focusing on the experimental setup and error evaluation methods. The findings of this study will contribute to the ongoing development of robotic-assisted cervical surgery, highlighting both its advantages and areas for improvement in achieving safer and more efficient surgical workflows

cs.RO↗

arXiv2026

A novel Integrated Motion Tracking Device (IMTD) for Objective Laparoscopic Training Assessment: Development and Validation

This paper presents a novel, compact four-degree-of-freedom motion-tracking device (IMTD) designed for training and evaluation in laparoscopic surgery. The device's kinematics, mechanical design, instrumentation, and prototypes are developed and presented to meet the specific requirements of laparoscopic training context, including movement around a fixed center of motion and seamless integration into standard box trainers. The system IMTD's tracking accuracy and reliability are compared to a motion capture system (MoCap), assessing its ability to capture both angular and translational motions of surgical instruments. The study then focuses on key performance parameters including precision, fluidity, speed, and overall motion efficiency. The results highlight the system's effectiveness in tracking surgical gestures, providing valuable insights into its potential as a tool for training and performance evaluation in minimally invasive surgery. Additionally, IMTD's low cost and integrated design allow for easy integration and implementation in training rooms, offering a practical and accessible solution for general use. By offering objective, real-time feedback, the system can significantly contribute to improving surgical skills and shortening the learning curve for novice students, while also providing a foundation for future development of gesture scoring algorithms and standardized training protocols.

cs.RO↗

arXiv2026

Optimization of an Augmented R-CUBE mechanism for Cervical Surgery

In some surgical operations targeting the spine, it is required to drill cavities in the vertebrae for the insertion of pedicle screws. A new mechanical architecture is proposed for this application. It is based on an augmented version of the full translational R-CUBE mechanism, with improved linkages to implement additional rotational motion. Using this concept, a mechanism presented with a 3T2R motion that is required for the manipulation of the surgical drill. It is mainly composed three stages: one translational, one transmitting and one rotational. Their respective kinematic and velocity models are separately derived, then combined. Based on the drilling trajectories obtained from a real patient case, the mechanism is optimized for generating the highest kinematic performances.

cs.RO↗