Multi-criteria optimization of the 4 links of an 8 DOF haptic master device for a surgical robot

Author

Kang, Seung Gyu ; Iqbal, Hashim ; Lee, Doo Yong

Author_Institution

Dept. of Mech. Eng., KAIST, Daejeon, South Korea

fYear

2012

fDate

17-21 Oct. 2012

Firstpage

1756

Lastpage

1761

Abstract

This paper discusses multi-criteria optimization of the 4 links of an 8 DOF haptic master device for a minimally invasive surgery. In minimally invasive surgery, because of limited information from surgical scene, sensation of feedback force and manipulability of device are important factors during surgery. Therefore, optimization of the device is required for efficiency of surgical procedures. To achieve this purpose, physical meanings of various performance indices are introduced. And some performance indices such as workspace, kinematic manipulability and force isotropy index are considered. Also, to measure global condition of these indices, global indices are defined and calculated by using monte-carlo method. And then genetic algorithm is used to get optimal link lengths in this multi-criteria optimization problem.

Keywords

Monte Carlo methods; couplings; feedback; genetic algorithms; haptic interfaces; medical robotics; surgery; 8-DOF haptic master device; MIS; Monte-Carlo method; device manipulability; device optimization; feedback force sensation; genetic algorithm; minimally invasive surgery; multicriteria optimization problem; optimal link lengths; surgical procedure; surgical robot; surgical scene; Ellipsoids; Force; Indexes; Joints; Kinematics; Optimization; Surgery; Haptic Master; Minimally Invasive Surgery; Optimization; Performance Index;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems (ICCAS), 2012 12th International Conference on

Conference_Location

JeJu Island

Print_ISBN

978-1-4673-2247-8

Type

conf

Filename

6393128