Dimensional Optimization of a Two-Arm Robot for Single-Site Surgery Operations

Abstract

Unlike open surgery, minimally invasive surgery (MIS) involves small incisions through which instruments are passed to perform surgery. This technique is preferred since it reduces postoperative pain and recovery time. Laparoendoscopic single-site (LESS) surgery is the next step in MIS; a single incision is created instead of multiple access points for allowing the instruments to enter the peritoneal cavity. However, such minimally invasive techniques force the surgeon to perform more complex movements, hence the interest to use robotic systems. Design of robots for LESS is challenging to avoid collisions, reduce weight, and improve compactness while respecting the technical requirements (minimum forces, velocities). In this paper, we present the dimensional synthesis of a two-arm robot used for LESS. Each arm has a 2R-R-R architecture with link lengths optimized to respect the workspace constraints and maximize compactness while improving the performance in terms of forces and velocities (kinetostatic properties).

Multi-objective optimization and linear buckling of serial chain of a medical robot tool for soft tissue surgery

“…Important information about elastic buckling problems is announced in work [3][4][5]. The usage of Pareto fronts for the optimization of a medical robot is illustrated in work [6][7][8][9]. There is also a work, where the Lanchos method is used for solving eigenvalue problems and is described in [10].…”