Experimental validation of manipulability optimization control of a 7‐DoF serial manipulator for robot‐assisted surgery

Abstract

Purpose Both safety and accuracy are of vital importance for surgical operation procedures. An efficient way to avoid the singularity of the surgical robot concerning safety issues is to maximize its manipulability in robot‐assisted surgery. The goal of this work was to validate a dynamic neural network optimization method for manipulability optimization control of a 7‐degree of freedom (DoF) robot in a surgical operation. Methods Three different paths, a circle, a sinusoid and a spiral were chosen to simulate typical surgical tasks. The dynamic neural network‐based manipulability optimization control was implemented on a 7‐DoF robot manipulator. During the surgical operation procedures, the manipulability of the robot manipulator and the accuracy of the surgical operation are recorded for performance validation. Results By comparison, the dynamic neural network‐based manipulability optimization control achieved optimized manipulability but with a loss of the accuracy of trajectory tracking (the global error was 1 mm compare to the 0.5 mm error of non‐optimized method). Conclusions The method validated in this work achieved optimized manipulability with a loss of error. Future works should be introduced to improve the accuracy of the surgical operation.

Social spider optimization algorithm for tuning parameters in PD-like Interval Type-2 Fuzzy Logic Controller applied to a parallel robot

“…49–55 Cooperative control can be developed for this type of 3-RRR planar parallel robot for the surgical application. 12,14,56…”

“…This makes them candidates for such medical applications that require high precision and safe operation. 14,15…”

Bi-Objective Function Optimization for Welding Robot Parameters to Improve Manipulability

“…The CLIK algorithm with PID controller has the advantage of simulating robot motion similar to the actual control environment [29]. However, since there is no separate restriction on the robot joint angle, we applied the WLN solution for joint angle restriction [14,16].…”

“…Generally, research on robot operability analyzes the operability of joint robots [8,9], constraints on operability and trajectory for flat manipulators [10,11], path planning in a direction with good robot operability [12,13], and control to optimize the manipulability of a surgical serial vertical joint robot. Research cases include the optimal structure design of a serial joint robot based on posture manipulability [14,15]. Still, there are few papers on the optimal design of mechanisms to improve robot operability.…”

Research on the Progress of Autonomous Technology in Robot Assisted Surgery

“…(Source: https: //www.dlr.de) Figure 4 MiroSurge surgical robot platform In addition to the above research platforms, there are also research groups using industrial or collaborative robotic arms to carry out research on the autonomy of some surgical procedures [22,23]. This type of robotic arm provides certain support for high-level autonomous operation in terms of operability, but it is difficult to apply to clinical practice.…”