Open AccessDimensional optimization of a minimally invasive surgical robot system based on NSGA-II algorithm
Author(s) -
Wei Wang,
Weidong Wang,
Wei Dong,
Hongjian Yu,
Zhiyuan Yan,
Zhijiang Du
Publication year - 2015
Publication title -
advances in mechanical engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.318
H-Index - 40
eISSN - 1687-8140
pISSN - 1687-8132
DOI - 10.1177/1687814014568541
Subject(s) - kinematics , multi objective optimization , invasive surgery , set (abstract data type) , process (computing) , optimization algorithm , computer science , optimization problem , algorithm , range (aeronautics) , robot end effector , mathematical optimization , control theory (sociology) , robot , mathematics , engineering , artificial intelligence , surgery , medicine , physics , control (management) , classical mechanics , programming language , aerospace engineering , operating system
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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