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中南大学学报(英文版)

Journal of Central South University

Vol. 24    No. 6    June 2017

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Multi-optimization of a spherical mechanism for minimally invasive surgery
NIU Guo-jun(牛国君), PAN Bo(潘博), ZHANG Fu-hai(张福海), FENG Hai-bo(封海波), FU Yi-li(付宜利)

State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China

Abstract:In order to obtain the remote center motion (RCM) mechanism with better performance indexes and avoid the collision of multi-manipulators in minimally invasive surgery (MIS), a novel multi-objective optimization model was presented. There were two optimization objectives: a global kinematic performance index and a comprehensive stiffness index. Other indexes to characterize the design requirements such as collision probability, workspace, mechanism parameter, mass, and wall thickness were considered as constraints. Angles between two adjacent joints and cross-section dimensions of links were chosen as the design variables. The non-dominated sorting genetic algorithm II (NSGA-II) was adopted to solve the complex multi-objective optimization problem. Then, a 3-degree of freedom (DoF) MIS robotic prototype based on optimization results has been built up. The experiments to test the spatial position change of the remote center point and to test the absolute position accuracy and repetitive position accuracy of the MIS robot were achieved, and the experimental results meet the requirements of MIS.

 

Key words: minimally invasive surgery; medical robot; multi-objective optimization; remote centre motion

中南大学学报(自然科学版)
  ISSN 1672-7207
CN 43-1426/N
ZDXZAC
中南大学学报(英文版)
  ISSN 2095-2899
CN 43-1516/TB
JCSTFT
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