Preoperative positioning planning for a robot‐assisted minimally invasive surgical system based on accuracy and safety

摘要

BACKGROUND: Minimally invasive robot-assisted techniques are being used increasingly in surgical procedures, and the preoperative preparation for this kind of operation is more complicated than traditional operations. METHOD: Taking the placement requirements of minimally invasive thyroid surgery as the research object, taking the kinematic performance and safety of the manipulator as the optimization goal, a set of indexes and pendulums for evaluating the accuracy and safety of the manipulators are proposed accordingly. RESULTS: The optimal preoperative positioning scheme is obtained based on Non dominated sorting genetic algorithm- II multi-objective genetic algorithm. Meanwhile, compared with the optimization results of Gaot genetics and the positional scheme given by the surgeon based on experience, the advantages of the scheme are proved to be obvious. CONCLUSION: The scheme showed good performance in the comparison and proved the feasibility of the positional scheme in preoperative planning.