|Optimization of layout and path planning of surgical robotic system
Quoc Cuong Nguyen, Youngjun Kim and HyukDong Kwon*
International Journal of Control, Automation, and Systems, vol. 15, no. 1, pp.375-384, 2017
Abstract : "Positioning a surgical robot for optimal operation in a crowded operating room is a challenging task. In
the robotic-assisted surgical procedures, the surgical robot’s end-effector must reach the patient’s anatomical targets
because repositioning of the patient or surgical robot requires additional time and labor. This paper proposes an
optimization algorithm to determine the best layout of the operating room, combined with kinematics criteria and
optical constraints applied to the surgical assistant robot system. A new method is also developed for trajectory of
robot’s end-effector for path planning of the robot motion. The average deviations obtained from repeatability tests
for surgical robot’s layout optimization were 1.4 and 4.2 mm for x and y coordinates, respectively. The results of
this study show that the proposed optimization method successfully solves the placement problem and path planning
of surgical robotic system in operating room."
Genetic algorithm, medical robot, operating room layout, optimization, path planning.
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