Working Pose and Layout Optimization of surgical robot

摘要

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.