Positioning a surgical robot for optimal operation in a crowded operating room is a challenging task. Inthe robotic-assisted surgical procedures, the surgical robot’s end-effector must reach the patient’s anatomical targetsbecause repositioning of the patient or surgical robot requires additional time and labor. This paper proposes anoptimization algorithm to determine the best layout of the operating room, combined with kinematics criteria andoptical constraints applied to the surgical assistant robot system. A new method is also developed for trajectory ofrobot’s end-effector for path planning of the robot motion. The average deviations obtained from repeatability testsfor surgical robot’s layout optimization were 1.4 and 4.2 mm for x and y coordinates, respectively. The results ofthis study show that the proposed optimization method successfully solves the placement problem and path planningof surgical robotic system in operating room.
Positioning a surgical robot for optimal operation in a crowded operating room is a challenging task. Inthe robotic-assisted surgical procedures, the surgical robot’s end-effector must reach the patient’s anatomical targetsbecause repositioning of the patient or surgical robot requires additional time and labor. This paper proposes anoptimization algorithm to determine the best layout of the operating room, combined with kinematics criteria andoptical constraints applied to the surgical assistant robot system. A new method is also developed for trajectory ofrobot’s end-effector for path planning of the robot motion. The average deviations obtained from repeatability testsfor surgical robot’s layout optimization were 1.4 and 4.2 mm for x and y coordinates, respectively. The results ofthis study show that the proposed optimization method successfully solves the placement problem and path planningof surgical robotic system in operating room.