Working Pose and Layout Optimization of surgical robot

Chao Shi; Gang Zhu; Yadong Yan; Xiangqian Chen; Yu Wang; U. Kaicheng

doi:10.1109/EMBC44109.2020.9175584

Working Pose and Layout Optimization of surgical robot

Chao Shi
, Gang Zhu
, Yadong Yan
, Xiangqian Chen
, Yu Wang
, U. Kaicheng

School of Biological Science and Medical Engineering

Beihang University
Colorado College

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

It is quite a challenge on positioning surgical robot to optimal place in a crowded and special environment. Compared with the structured industrial environment, the unstructured operating room (OR) environment brings higher requirements for safety of the surgical robot. Meanwhile, the efficiency has significant impact on the ease of surgical robot and repositioning requires additional time and labor. This paper introduces a new method of pose and layout planning to deal with the problem of interaction between robot and environment in operating room. The optimal layout and working pose planning of robot in OR environment are accomplished through APF calculation, pose traversal and layout traversal. The feasibility of this method is validated in simulated OR environment.

Original language	English
Title of host publication	42nd Annual International Conferences of the IEEE Engineering in Medicine and Biology Society
Subtitle of host publication	Enabling Innovative Technologies for Global Healthcare, EMBC 2020
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4728-4731
Number of pages	4
ISBN (Electronic)	9781728119908
DOIs	https://doi.org/10.1109/EMBC44109.2020.9175584
State	Published - Jul 2020
Event	42nd Annual International Conferences of the IEEE Engineering in Medicine and Biology Society, EMBC 2020 - Montreal, Canada Duration: 20 Jul 2020 → 24 Jul 2020

Publication series

Name	Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
Volume	2020-July
ISSN (Print)	1557-170X

Conference

Conference	42nd Annual International Conferences of the IEEE Engineering in Medicine and Biology Society, EMBC 2020
Country/Territory	Canada
City	Montreal
Period	20/07/20 → 24/07/20

Access to Document

10.1109/EMBC44109.2020.9175584

Cite this

Shi, C., Zhu, G., Yan, Y., Chen, X., Wang, Y., & Kaicheng, U. (2020). Working Pose and Layout Optimization of surgical robot. In 42nd Annual International Conferences of the IEEE Engineering in Medicine and Biology Society: Enabling Innovative Technologies for Global Healthcare, EMBC 2020 (pp. 4728-4731). Article 9175584 (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS; Vol. 2020-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/EMBC44109.2020.9175584

Shi, Chao ; Zhu, Gang ; Yan, Yadong et al. / Working Pose and Layout Optimization of surgical robot. 42nd Annual International Conferences of the IEEE Engineering in Medicine and Biology Society: Enabling Innovative Technologies for Global Healthcare, EMBC 2020. Institute of Electrical and Electronics Engineers Inc., 2020. pp. 4728-4731 (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS).

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title = "Working Pose and Layout Optimization of surgical robot",

abstract = "It is quite a challenge on positioning surgical robot to optimal place in a crowded and special environment. Compared with the structured industrial environment, the unstructured operating room (OR) environment brings higher requirements for safety of the surgical robot. Meanwhile, the efficiency has significant impact on the ease of surgical robot and repositioning requires additional time and labor. This paper introduces a new method of pose and layout planning to deal with the problem of interaction between robot and environment in operating room. The optimal layout and working pose planning of robot in OR environment are accomplished through APF calculation, pose traversal and layout traversal. The feasibility of this method is validated in simulated OR environment.",

author = "Chao Shi and Gang Zhu and Yadong Yan and Xiangqian Chen and Yu Wang and U. Kaicheng",

note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 42nd Annual International Conferences of the IEEE Engineering in Medicine and Biology Society, EMBC 2020 ; Conference date: 20-07-2020 Through 24-07-2020",

year = "2020",

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doi = "10.1109/EMBC44109.2020.9175584",

language = "英语",

series = "Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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Shi, C, Zhu, G, Yan, Y, Chen, X, Wang, Y & Kaicheng, U 2020, Working Pose and Layout Optimization of surgical robot. in 42nd Annual International Conferences of the IEEE Engineering in Medicine and Biology Society: Enabling Innovative Technologies for Global Healthcare, EMBC 2020., 9175584, Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS, vol. 2020-July, Institute of Electrical and Electronics Engineers Inc., pp. 4728-4731, 42nd Annual International Conferences of the IEEE Engineering in Medicine and Biology Society, EMBC 2020, Montreal, Canada, 20/07/20. https://doi.org/10.1109/EMBC44109.2020.9175584

Working Pose and Layout Optimization of surgical robot. / Shi, Chao; Zhu, Gang; Yan, Yadong et al.
42nd Annual International Conferences of the IEEE Engineering in Medicine and Biology Society: Enabling Innovative Technologies for Global Healthcare, EMBC 2020. Institute of Electrical and Electronics Engineers Inc., 2020. p. 4728-4731 9175584 (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS; Vol. 2020-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Kaicheng, U.

PY - 2020/7

Y1 - 2020/7

N2 - It is quite a challenge on positioning surgical robot to optimal place in a crowded and special environment. Compared with the structured industrial environment, the unstructured operating room (OR) environment brings higher requirements for safety of the surgical robot. Meanwhile, the efficiency has significant impact on the ease of surgical robot and repositioning requires additional time and labor. This paper introduces a new method of pose and layout planning to deal with the problem of interaction between robot and environment in operating room. The optimal layout and working pose planning of robot in OR environment are accomplished through APF calculation, pose traversal and layout traversal. The feasibility of this method is validated in simulated OR environment.

AB - It is quite a challenge on positioning surgical robot to optimal place in a crowded and special environment. Compared with the structured industrial environment, the unstructured operating room (OR) environment brings higher requirements for safety of the surgical robot. Meanwhile, the efficiency has significant impact on the ease of surgical robot and repositioning requires additional time and labor. This paper introduces a new method of pose and layout planning to deal with the problem of interaction between robot and environment in operating room. The optimal layout and working pose planning of robot in OR environment are accomplished through APF calculation, pose traversal and layout traversal. The feasibility of this method is validated in simulated OR environment.

UR - https://www.scopus.com/pages/publications/85091017217

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BT - 42nd Annual International Conferences of the IEEE Engineering in Medicine and Biology Society

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Shi C, Zhu G, Yan Y, Chen X, Wang Y, Kaicheng U. Working Pose and Layout Optimization of surgical robot. In 42nd Annual International Conferences of the IEEE Engineering in Medicine and Biology Society: Enabling Innovative Technologies for Global Healthcare, EMBC 2020. Institute of Electrical and Electronics Engineers Inc. 2020. p. 4728-4731. 9175584. (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS). doi: 10.1109/EMBC44109.2020.9175584

Working Pose and Layout Optimization of surgical robot

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