Kinematic design optimization of an actuated carrier for the DLR multi-arm surgical system

被引：10

作者：

Konietschke, Rainer ^{[1
]}

Ortmaier, Tobias ^{[1
]}

Frumento, Silvia ^{[2
]}

机构：

[1] German Aerosp Ctr DLR, Inst Robot & Mechatron, D-82234 Wessling, Germany

[2] Univ Genoa, DIMEC, PMARLab, I-16145 Genoa, Italy

来源：

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年

关键词：

D O I：

10.1109/IROS.2006.282014

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a generic approach to optimize the design of an actuated carrier for the DLR multi-arm surgical system is presented. The carrier is attached to the ceiling of the operating room and provides additional degrees of freedom to the surgical robots with the purpose of automatic, optimal positioning of their bases as well as guaranteeing high stiffness. Standard workspaces of minimally invasive as well as open surgical procedures are considered and optimization criteria are derived. The minimum necessary degrees of freedom of the carrier are obtained as well as the optimal segment dimensions by use of an optimization with genetic algorithms.

引用

页码：4381 / +

页数：2

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