Motion simulation and optimal position system of surgical robots

A method that is used to position surgical robot and to train the surgeons is proposed to reduce difficulties of surgical robot training and preoperative setup. The position and posture of the surgical robot are respectively considered, and the master-slave motion of the surgical robot is simulated in a 3D virtual environment. The cooperation between the arms is used as the object function and the particle swarm optimization method is used to optimize the robot position. Doctors are intuitively guided to complete the complex preoperative arrangement by considering both the robot performance and the internal difference of operation space, and the priority is given to the cooperation of multi-arms in the important region of surgical space. Experimental results show that the system accurately simulates surgical operations and facilitates the rehearsal and training of robotic surgery, and that the system effectively achieves the best robot position and enhances the robot performance.