In this section
@article{Cursi:2022,
author = {Cursi, F and Bai, W and Yeatman, EM and Kormushev, P},
journal = {IEEE Transactions on Robotics},
pages = {2858--2874},
title = {Optimization of surgical robotic instrument mounting in a macro-micro manipulator setup for improving task execution},
url = {http://kormushev.com/papers/Cursi_TRO-2022.pdf},
volume = {38},
year = {2022}
}
TY - JOUR
AB - In Minimally Invasive Robotic Surgery (MIRS),the surgical instrument is usually inserted inside the patient’sbody through a small incision, which acts as a Remote Centerof Motion (RCM). Serial-link manipulators can be used asmacro robots on which micro surgical robotic instruments aremounted to increase the number of degrees of freedom (DOFs)of the system and ensure safe task and RCM motion execution.However, the surgical instrument needs to be placed in anappropriate configuration when completing the motion tasks.The contribution of this work is to present a novel frameworkthat preoperatively identifies the best base configuration, interms or Roll, Pitch, and Yaw angles, of the micro surgicalinstrument with respect to the macro serial-link manipulator’send-effector in order to achieve the maximum accuracy anddexterity in performing specified tasks. The framework relieson Hierarchical Quadratic Programming (HQP) for the control,Genetic Algorithm (GA) for the optimization, and on a resilienceto error strategy to make sure deviations from the optimum donot affect the system’s performance.Simulation results show that the mounting configuration ofthe surgical instrument significantly impacts the performanceof the whole macro-micro manipulator in executing the desiredmotion tasks, and both the simulation and experimental resultsdemonstrate that the proposed optimization method improves theoverall performance.
AU - Cursi,F
AU - Bai,W
AU - Yeatman,EM
AU - Kormushev,P
EP - 2874
PY - 2022///
SN - 1552-3098
SP - 2858
TI - Optimization of surgical robotic instrument mounting in a macro-micro manipulator setup for improving task execution
T2 - IEEE Transactions on Robotics
UR - http://kormushev.com/papers/Cursi_TRO-2022.pdf
UR - http://hdl.handle.net/10044/1/96516
VL - 38
ER -
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