PLACEMENT AND MOTION OPTIMIZATION OF REDUNDANT MAXILLOFACIAL SURGICAL ROBOT WITH NEW DEXTERITY MEASURE

Nan Luan, Haiqing Zhang, Haijun Gui, Shilei Zhang, Yanping Lin, and Jinyang Wu

Keywords

Surgical robot, maxillofacial surgery, placement optimization,dexterity measure, particle swarm optimization

Abstract

Pre-operative optimization of surgical robot helps to provide accurate and safe surgical interventions. This paper aims to develop a general approach to placement and motion optimization of a seven degrees of freedom maxillofacial surgical robot. Attention is paid to reasonable workspace modelling method and formulation of more eļ¬ƒcient dexterity measure. The proposed modelling method requires very few discretization work of target workspace, and dexterity measure can be computed directly from joint values without involving Jacobian matrix. Based on these approaches, pre-operative optimization can be realized much faster than before, which is convenient for rapid simulation and validation of surgical plan before operation. Optimization is carried out using particle swarm optimization algorithm. Validation of the best-obtained result is presented. Computation time of the new dexterity measure and its comparison with conventional criteria are discussed.

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