Dimensional optimization of a minimally invasive surgical robot system based on NSGA-II algorithm

Article English OPEN
Wei Wang ; Weidong Wang ; Wei Dong ; Hongjian Yu ; Zhiyuan Yan ; Zhijiang Du (2015)
  • Publisher: SAGE Publishing
  • Journal: Advances in Mechanical Engineering (issn: 1687-8140)
  • Related identifiers: doi: 10.1177/1687814014568541
  • Subject: Mechanical engineering and machinery | TJ1-1570

Based on the proposed end-effector structure of a laparoscopic minimally invasive surgical manipulator, a dimensional optimization method is investigated to enlarge the motion range of the mechanical arm in the specific target area and reduce the collision among the mechanical arms simultaneously. Both the length of the kinematics links and the overall size of the integrated system are considered in the optimization process. The NSGA-II algorithm oriented to the multi-objective optimization is utilized to calculate the Pareto solution set of the objective function. Finally, the dependence of the evaluation indexes is analysed to filter the non-inferior set, which guarantees the selection of the optimization solution.
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