NDLI: Maximizing dexterous workspace and optimal port placement of a multi-arm surgical robot

Content Provider	IEEE Xplore Digital Library
Author	Zhi Li Glozman, D. Milutinovic, D. Rosen, J.
Copyright Year	2011
Description	Author affiliation: Medtronic Ventor, Israel (Glozman, D.) \|\| Department of Applied Mathematics & Statistics, University of California, Santa Cruz, 95064, USA (Milutinovic, D.) \|\| Department of Computer Engineering, University of California, Santa Cruz, 95064, USA (Zhi Li; Rosen, J.)
Abstract	Surgical procedures are traditionally performed by two or more surgeons along with staff nurses. One surgeon serves as the primary surgeon and the other serves as his/her assistant. Surgical robotics have redefined the dynamics in which the two surgeons interact with each other and with the surgical site. Raven IV is a new generation of the surgical robot system having four articulated robotic arms in a spherical configuration, each holding an articulated surgical tool. The system allows two surgeons to teleoperate the Raven IV collaboratively from two remote sites. The current research effort aims to configure the link architecture of each robotic arm, along with the position (port placement) and orientation of the Raven IV with respect to the patient, in order to optimize the common workspace reachable by all four robotic arms. The simulation results indicate that tilting the base of the robotic arms in the range of −20 to 20 deg while moving the ports closer together up to 50 mm apart leads to a preferred circular shape of the common workspace with an isotropy value of 0.5. A carefully configured system with multiple surgical robotic arms will enhance the interactive performance of the two surgeons.
Starting Page	3394
Ending Page	3399
File Size	580203
Page Count	6
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5980270
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Kinematics Manipulators Jacobian matrices Medical robotics Surgery Optimization
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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