Surgical robot open surgery trajectory planning based on machine vision and improved genetic algorithm

Abstract

Aiming at the difficulty of trajectory planning for open surgery of surgical robot, a method based on machine vision and improved genetic algorithm is proposed to solve the trajectory planning of open surgery of surgical robot. This method extracts the contour curve of the incision site of human open surgery from the image through the feature recognition algorithm, and discretizes it into the trajectory planning stage. Based on the discretized model, the optimal surgical incision trajectory is obtained. Combined with the biological characteristics of the human abdomen and the improved genetic algorithm (GA), the spline curve is segmented trajectory planning, and the minimum number of segments is optimized. Finally, the trajectory planning results are converted to Cartesian space for programming according to the spatial pose relationship, and the optimal surgical trajectory is obtained to realize the preoperative planning of the content of open surgery.