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Optimization of layout and path planning of surgical robotic system

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  • Robot and Applications
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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.

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Authors and Affiliations

  1. Graduate School of NID Fusion Technology, Seoul National University of Science and Technology, 232 Gongneung-ro, Nowon-gu, Seoul, 01811, Korea

    Quoc Cuong Nguyen & HyukDong Kwon

  2. Center for Bionics, Korea Institute of Science and Technology, 5 Hwarang-ro 14 gil, Seongbuk-gu, Seoul, 02792, Korea

    Youngjun Kim

Authors
  1. Quoc Cuong Nguyen
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  2. Youngjun Kim
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  3. HyukDong Kwon
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Corresponding author

Correspondence to HyukDong Kwon.

Additional information

Recommended by Associate Editor Huaping Liu under the direction of Editor Fuchun Sun. This work was supported by the KIST institutional program (2E26210, 2E26276).

Quoc Cuong Nguyen is a Ph.D. student in the Graduate School of NID Fusion Technology at Seoul National University of Science and Technology, Korea. He re- ceived his BS (2004) and MS (2008) in the Faculty of Mechanical Engineering at Ho Chi Minh City University of Technology, Vietnam. His research focuses on robotics, mechanism simulation, mechatronics, and computer vision.

Youngjun Kim is a senior researcher in the Center for Bionics at Korea Institute of Science Technology. He received his BS (2001), MS (2003), and Ph.D. (2009) in the School of Mechanical and Aerospace Engineering at Seoul National University. He researched in the Department of Radi- ation Oncology at Stanford University as a postdoctoral scholar (2013). His research interests include 3D medical imaging software, medical simula- tion, and computer aided surgery.

HyukDong Kwon is an associate professor at Seoul National University of Science and Technology. He received his BS (1983) and MS (1985) in the School of Mechanical and Aerospace Engineering at Seoul National University, and Ph.D. (1996) in the Department of Mechanical Engineering at University of Manchester. He served for the Ministry of Science and Technology as Director in R&D Coordination and Budget (2008). He worked for Korea Institute for Industrial Technology as Senior Researcher (2002). His research interests include manufacturing measurement, computer integrated manufacturing, and ST policy.

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Nguyen, Q.C., Kim, Y. & Kwon, H. Optimization of layout and path planning of surgical robotic system. Int. J. Control Autom. Syst. 15, 375–384 (2017). https://doi.org/10.1007/s12555-015-0418-z

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  • DOI: https://doi.org/10.1007/s12555-015-0418-z

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