Optimization of Port Configuration and Manipulator Positioning in Robotic Laparoscopic Surgery
DOI:
https://doi.org/10.17979/ja-cea.2025.46.12259Keywords:
Robotic Surgery, Robot-Assisted Laparoscopy, Global Optimization, Conditioning Index, Surgical PlanningAbstract
This work presents an algorithm to optimize the configuration of surgical ports and the positioning of robotic arm bases in robot-assisted laparoscopic surgery. A kinematic evaluation based on the Conditioning Index (CI) is performed, identifying valid base-port combinations that ensure complete maneuverability throughout the entire target organ. Subsequently, DBSCAN is applied to identify port clusters, and a multi-objective optimization is carried out, considering base separation, port distribution, and adjacency. The process is validated through simulations involving two UR3e robots and up to four ports, demonstrating the effectiveness of the method in obtaining optimal and robust solutions. The algorithm is particularly useful in preoperative planning, as it provides the surgeon with base/port configurations that guarantee the feasibility of the procedure in terms of maneuverability and minimize the risk of collisions.
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Copyright (c) 2025 Carlos Fontúrbel, Ana Cisnal, Javier Pérez-Turiel, Juan Carlos Fraile-Marinero
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