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Multi-robot system optimization based on redundant serial spherical mechanism for robotic minimally invasive surgery

Published online by Cambridge University Press:  01 August 2018

C. A. Nelson ,
M. A. Laribi Open the ORCID record for M. A. Laribi [Opens in a new window]  and
S. Zeghloul
C. A. Nelson
Affiliation:
Department of Mechanical and Materials Engineering, University of Nebraska-Lincoln, Lincoln, NE 68588-0526, USA Email: cnelson5@unl.edu
M. A. Laribi*
Affiliation:
Department of GMSC, Pprime Institute, CNRS - University of Poitiers - ENSMA - UPR 3346, 86962 Futuroscope Chasseneuil Cedex, France Email: said.zeghloul@univ-poitiers.fr
S. Zeghloul
Affiliation:
Department of GMSC, Pprime Institute, CNRS - University of Poitiers - ENSMA - UPR 3346, 86962 Futuroscope Chasseneuil Cedex, France Email: said.zeghloul@univ-poitiers.fr
*
*Corresponding author. E-mail: med.amine.laribi@univ-poitiers.fr
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Summary

Serial spherical linkages have been used in the design of a number of robots for minimally invasive surgery, in order to mechanically constrain the surgical instrument with respect to the incision. However, the typical serial spherical mechanism suffers from conflicting design objectives, resulting in an unsuitable compromise between avoiding collision with the patient and producing good kinematic and workspace characteristics. In this paper, we propose a multi-robot system composed of two redundant serial spherical linkages to achieve this purpose. A multi-objective optimization for achieving the aforementioned design goals is presented first for a single redundant robot and then for a multi-robot system. The problem of mounting multiple robots on the operating table as well as the way cooperative actions can be performed is addressed. The sensitivity of each optimal solution (single-robot and multi-robot) to uncertainties in the design parameters is investigated.

Keywords

Multi-robot systemSerial spherical mechanismRedundant linkageSurgical robotMinimally invasive surgery
Type
Articles
Information
Robotica , Volume 37 , Special Issue 7: Computational Kinematics Conference, CK 2017 , July 2019 , pp. 1202 - 1213
Copyright
© Cambridge University Press 2018 

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