TY - GEN
T1 - Working Pose and Layout Optimization of surgical robot
AU - Shi, Chao
AU - Zhu, Gang
AU - Yan, Yadong
AU - Chen, Xiangqian
AU - Wang, Yu
AU - Kaicheng, U.
N1 - Publisher Copyright:
© 2020 IEEE.
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
U2 - 10.1109/EMBC44109.2020.9175584
DO - 10.1109/EMBC44109.2020.9175584
M3 - 会议稿件
AN - SCOPUS:85091017217
T3 - Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
SP - 4728
EP - 4731
BT - 42nd Annual International Conferences of the IEEE Engineering in Medicine and Biology Society
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 42nd Annual International Conferences of the IEEE Engineering in Medicine and Biology Society, EMBC 2020
Y2 - 20 July 2020 through 24 July 2020
ER -