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Robot arm placements are oftentimes a limitation in surgical preoperativeprocedures, relying on trained staff to evaluate and decide on the optimalpositions for the arms. Given new and different patient anatomies, it can bechallenging to make an informed choice, leading to more frequently collidingarms or limited manipulator workspaces. In this paper, we develop a method togenerate the optimal manipulator base positions for the multi-port da Vincisurgical system that minimizes self-collision and environment-collision, andmaximizes the surgeon's reachability inside the patient. Scoring functions aredefined for each criterion so that they may be optimized over. Since formulti-manipulator setups, a large number of free parameters are available toadjust the base positioning of each arm, a challenge becomes how one canexpediently assess possible setups. We thus also propose methods that performfast queries of each measure with the use of a proxy collision-checker. We thendevelop an optimization method to determine the optimal position using thescoring functions. We evaluate the optimality of the base positions for therobot arms on canonical trajectories, and show that the solution yielded by theoptimization program can satisfy each criterion. The metrics and optimizationstrategy are generalizable to other surgical robotic platforms so thatpatient-side manipulator positioning may be optimized and solved.

Optimal Multi-Manipulator Arm Placement for Maximal Dexterity during Robotics Surgery