PLACEMENT AND MOTION OPTIMIZATION OF REDUNDANT MAXILLOFACIAL SURGICAL ROBOT WITH NEW DEXTERITY MEASURE
Nan Luan, Haiqing Zhang, Haijun Gui, Shilei Zhang, Yanping Lin, and Jinyang Wu
Keywords
Surgical robot, maxillofacial surgery, placement optimization,dexterity measure, particle swarm optimization
Abstract
Pre-operative optimization of surgical robot helps to provide accu-
rate and safe surgical interventions. This paper aims to develop a
general approach to placement and motion optimization of a seven
degrees of freedom maxillofacial surgical robot.
Attention is paid to reasonable workspace modelling method and
formulation of more eļ¬cient dexterity measure. The proposed
modelling method requires very few discretization work of target
workspace, and dexterity measure can be computed directly from
joint values without involving Jacobian matrix. Based on these
approaches, pre-operative optimization can be realized much faster
than before, which is convenient for rapid simulation and validation
of surgical plan before operation.
Optimization is carried out using particle swarm optimization
algorithm. Validation of the best-obtained result is presented. Com-
putation time of the new dexterity measure and its comparison with
conventional criteria are discussed.
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