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Task-Specific Robot Base Pose Optimization for Robot-Assisted Surgeries

Meenakshi Sundaram, Ashok and Budjakoski, Nikola and Klodmann, Julian and Roa Garzon, Máximo Alejandro (2022) Task-Specific Robot Base Pose Optimization for Robot-Assisted Surgeries. Frontiers in Robotics and AI. Frontiers Media S.A. doi: 10.3389/frobt.2022.899646. ISSN 2296-9144.

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Official URL: https://www.frontiersin.org/articles/10.3389/frobt.2022.899646/full


Preoperative planning and intra-operative system setup are crucial steps to successfully integrate robotically assisted surgical systems (RASS) into the operating room. Efficiency in terms of setup planning directly affects the overall procedural costs and increases acceptance of RASS by surgeons and clinical personnel. Due to the kinematic limitations of RASS, selecting an optimal robot base location and surgery access point for the patient is essential to avoid potentially critical complications due to reachability issues. To this end, this work proposes a novel versatile method for RASS setup and planning based on robot capability maps (CMAPs). CMAPs are a common tool to perform workspace analysis in robotics, as they are in general applicable to any robot kinematics. However, CMAPs have not been completely exploited so far for RASS setup and planning. By adapting global CMAPs to surgical procedure-specific tasks and constraints, a novel RASS capability map (RASSCMAP) is generated. Furthermore, RASSCMAPs can be derived to also comply with kinematic access constraints such as access points in laparoscopy. RASSCMAPs are versatile and applicable to any kind of surgical procedure; they can be used on the one hand for aiding in intra-operative experience-based system setup by visualizing online the robot’s capability to perform a task. On the other hand, they can be used to find the optimal setup by applying a multi-objective optimization based on a genetic algorithm preoperatively, which is then transfered to the operating room during system setup. To illustrate these applications, the method is evaluated in two different use cases, namely, pedicle screw placement in vertebral fixation procedures and general laparoscopy. The proposed RASSCMAPs help in increasing the overall clinical value of RASS by reducing system setup time and guaranteeing proper robot reachability to successfully perform the intended surgeries

Item URL in elib:https://elib.dlr.de/192702/
Document Type:Article
Title:Task-Specific Robot Base Pose Optimization for Robot-Assisted Surgeries
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Meenakshi Sundaram, AshokUNSPECIFIEDhttps://orcid.org/0000-0001-9201-6947UNSPECIFIED
Roa Garzon, Máximo AlejandroUNSPECIFIEDhttps://orcid.org/0000-0003-1708-4223UNSPECIFIED
Date:2 December 2022
Journal or Publication Title:Frontiers in Robotics and AI
Refereed publication:Yes
Open Access:Yes
Gold Open Access:Yes
In ISI Web of Science:Yes
Publisher:Frontiers Media S.A
Keywords:motion planning, surgical robot, capability map, reachability
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Autonomy & Dexterity [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Institute of Robotics and Mechatronics (since 2013)
Deposited By: Roa Garzon, Dr. Máximo Alejandro
Deposited On:21 Dec 2022 08:29
Last Modified:29 Mar 2023 00:03

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