Experimental validation of manipulability optimization control of a 7‐DoF serial manipulator for robot‐assisted surgery

• Published in: The international journal of medical robotics + computer assisted surgery Vol. 17; no. 1; pp. 1 - 11
• Main Authors: Su, Hang, Danioni, Andrea, Mira, Robert Mihai, Ungari, Matteo, Zhou, Xuanyi, Li, Jiehao, Hu, Yingbai, Ferrigno, Giancarlo, De Momi, Elena
• Format: Journal Article
• Language: English
• Published: England Wiley Subscription Services, Inc 01.02.2021
• Subjects: Accuracy; Degrees of freedom; Errors; manipulability; Manipulators; Network management systems; Neural networks; Optimization; redundant robot; Robot arms; Robotic surgery; Robots; robot‐assisted surgery; Safety; Sine waves; trajectory tracking; accuracy; robot-assisted surgery; manipulability; redundant robot; trajectory tracking
• DOI: 10.1002/rcs.2193
• ISSN: 1478-5951

Purpose Both safety and accuracy are of vital importance for surgical operation procedures. An efficient way to avoid the singularity of the surgical robot concerning safety issues is to maximize its manipulability in robot‐assisted surgery. The goal of this work was to validate a dynamic neural network optimization method for manipulability optimization control of a 7‐degree of freedom (DoF) robot in a surgical operation. Methods Three different paths, a circle, a sinusoid and a spiral were chosen to simulate typical surgical tasks. The dynamic neural network‐based manipulability optimization control was implemented on a 7‐DoF robot manipulator. During the surgical operation procedures, the manipulability of the robot manipulator and the accuracy of the surgical operation are recorded for performance validation. Results By comparison, the dynamic neural network‐based manipulability optimization control achieved optimized manipulability but with a loss of the accuracy of trajectory tracking (the global error was 1 mm compare to the 0.5 mm error of non‐optimized method). Conclusions The method validated in this work achieved optimized manipulability with a loss of error. Future works should be introduced to improve the accuracy of the surgical operation.