Abstract
Preoperative planning for robot-assisted minimally invasive surgery is critical stage. Recently, many studies focus on the preoperative planning of the robot-assisted minimally invasive single-site surgery. However, the preoperative planning for the robot-assisted minimally invasive combined surgery based on the optimization algorithm has not been reported. In order to improve the dexterity and coordination of the manipulators in the surgical areas and to reduce the preoperative adjustment time for the combined surgery, this paper proposes a preoperative planning algorithm based on the non-dominated sorting genetic algorithm II (NSGA-II) for robot-assisted minimally invasive Cholecystectomy combined with Appendectomy (RAMICA). The preoperative planning algorithm simultaneously optimizes the entry ports and configurations of the manipulators. The optimization objective functions of the preoperative planning algorithm consist of a novel global dexterity index ( GDI ) based on the coefficient of variation and the coordination index ( CI ) that reflects hand-eye coordination and instrument coordination. The constraints of the preoperative planning algorithm include the port placement constraint and the non-collision constraint. The preoperative planning scheme based on the optimization algorithm are verified by comparative simulations to provide the better dexterity and coordination of the manipulators. Finally, the contrast experiments are carried out to demonstrate the effectiveness and superiority of the preoperative planning scheme obtained by the optimization algorithm.
Highlights
Robot-assisted minimally invasive surgery (RAMIS) has been applied in a variety of surgical operations, due to its advantages such as high accuracy, less trauma, and less recovery time [1]
The most important contribution of this paper is to present a preoperative planning algorithm based on the non-dominated sorting genetic algorithm II (NSGA-II) for robot-assisted minimally invasive Cholecystectomy combined with Appendectomy (RAMICA)
4) A NOVEL GLOBAL DEXTERITY INDEX The entry ports and configurations of manipulators are simultaneously optimized by preoperative planning algorithm, and that can change the kinematic performance of minimally invasive surgical robot in specific surgical areas
Summary
Robot-assisted minimally invasive surgery (RAMIS) has been applied in a variety of surgical operations, due to its advantages such as high accuracy, less trauma, and less recovery time [1]. Before the RAMIS, the locations of the entry ports and the configurations of the robot manipulators are the most critical issues in preoperative planning, which straightforwardly affect the dexterity and coordination of the instruments in the surgical areas and affect. All the above preoperative planning methods are based on the surgeon’s experiences, the robot performances and collision of manipulators in the surgical areas are less considered. As discussed in the literatures, the aforementioned methods optimized the port placements and configurations of the manipulators by adopting the dexterity, the isotropy, the coordination of manipulators, cooperative workspace, and non-collision as optimization indexes. The preoperative planning algorithm includes the port placement constraint and the non-collision constraint to avoid unreasonable angle between the surgical instruments and the intervention of the manipulators. The article is summarized and the direction of future study is discussed
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