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Robot base placement and tool mounting optimization based on capability map for robot-assistant camera holder

Published online by Cambridge University Press:  27 May 2024

Amir Trabelsi ,
Juan Sandoval ,
Abdelfattah Mlika ,
Samir Lahouar ,
Said Zeghloul  and
Med Amine Laribi Open the ORCID record for Med Amine Laribi [Opens in a new window]
Amir Trabelsi
Affiliation:
Department of GMSC, Pprime Institute CNRS, ENSMA, University of Poitiers, UPR 3346, Poitiers, France National Engineering School of Sousse, LMS, University of Sousse, Sousse, Tunisia
Juan Sandoval
Affiliation:
Nantes Université, École Centrale Nantes, CNRS, LS2N, UMR 6004, Nantes, France
Abdelfattah Mlika
Affiliation:
National Engineering School of Sousse, LMS, University of Sousse, Sousse, Tunisia
Samir Lahouar
Affiliation:
National Engineering School of Monastir, LGM, University of Monastir, Monastir, Tunisia
Said Zeghloul
Affiliation:
Department of GMSC, Pprime Institute CNRS, ENSMA, University of Poitiers, UPR 3346, Poitiers, France
Med Amine Laribi*
Affiliation:
Department of GMSC, Pprime Institute CNRS, ENSMA, University of Poitiers, UPR 3346, Poitiers, France
*
Corresponding author: Med Amine Laribi; Email: med.amine.laribi@univ-poitiers.fr
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Abstract

In the field of laparoscopic surgery, research is currently focusing on the development of new robotic systems to assist practitioners in complex operations, improving the precision of their medical gestures. In this context, the performance of these robotic platforms can be conditioned by various factors, such as the robot’s accessibility and dexterity in the task workspace. In this paper, we present a new strategy for improving the kinematic and dynamic performance of a 7-degrees of freedom robot-assisted camera-holder system for laparoscopic surgery. This approach involves the simultaneous optimization of the robot base placement and the laparoscope mounting orientation. To do so, a general robot capability representation approach is implemented in an innovative multiobjective optimization algorithm. The obtained results are first evaluated in simulation and then validated experimentally by comparing the robot’s performances implementing both the existing and the optimized solution. The optimization result led to a 2% improvement in the accessibility index and a 14% enhancement in manipulability. Furthermore, the dynamic performance criteria resulted in a substantial 43% reduction in power consumption.

Keywords

collaborative robotsminimally invasive robotic surgeryoptimizationrobot placementinstrument mountingcapability map

Information

Type
Research Article
Information
Robotica , Volume 42 , Issue 8 , August 2024 , pp. 2489 - 2510
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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