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

Carl A Nelson, M. A. Laribi, S. Zeghloul

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

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.

Original languageEnglish (US)
JournalRobotica
DOIs
StateAccepted/In press - Jan 1 2018

Fingerprint

Minimally Invasive Surgery
Multi-robot Systems
Surgery
Robotics
Robot
Robots
Optimization
Linkage
Multi-robot
Workspace
Parameter Design
Multi-objective Optimization
Kinematics
Table
Collision
Optimal Solution
Uncertainty
Multiobjective optimization
Mountings
Design

Keywords

  • Minimally invasive surgery
  • Multi-robot system
  • Redundant linkage
  • Serial spherical mechanism
  • Surgical robot

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications

Cite this

Multi-robot system optimization based on redundant serial spherical mechanism for robotic minimally invasive surgery. / Nelson, Carl A; Laribi, M. A.; Zeghloul, S.

In: Robotica, 01.01.2018.

Research output: Contribution to journalArticle

@article{c1733717e8d6484dba9286fd2425ca52,
title = "Multi-robot system optimization based on redundant serial spherical mechanism for robotic minimally invasive surgery",
abstract = "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 = "Minimally invasive surgery, Multi-robot system, Redundant linkage, Serial spherical mechanism, Surgical robot",
author = "Nelson, {Carl A} and Laribi, {M. A.} and S. Zeghloul",
year = "2018",
month = "1",
day = "1",
doi = "10.1017/S0263574718000681",
language = "English (US)",
journal = "Robotica",
issn = "0263-5747",
publisher = "Cambridge University Press",

}

TY - JOUR

T1 - Multi-robot system optimization based on redundant serial spherical mechanism for robotic minimally invasive surgery

AU - Nelson, Carl A

AU - Laribi, M. A.

AU - Zeghloul, S.

PY - 2018/1/1

Y1 - 2018/1/1

N2 - 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.

AB - 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.

KW - Minimally invasive surgery

KW - Multi-robot system

KW - Redundant linkage

KW - Serial spherical mechanism

KW - Surgical robot

UR - http://www.scopus.com/inward/record.url?scp=85052640761&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85052640761&partnerID=8YFLogxK

U2 - 10.1017/S0263574718000681

DO - 10.1017/S0263574718000681

M3 - Article

JO - Robotica

JF - Robotica

SN - 0263-5747

ER -