Preoperative Positioning Optimization Algorithm Based on Accuracy Evaluation for 7-DoF Surgery Robot

For the complex preoperative positioning of minimally invasive robot-assisted surgical procedures, we research the bedside dual 7-DoF cooperative robot, which is used in minimally invasive thyroid surgery, and take the motion accuracy and kinematics performance of the robotic arm as the optimization goal. Therefore, we propose accuracy evaluation and interference indexes of the robotic arm and introduce a set of preoperative planning methods based on elitist nondominated sorting genetic algorithm-Ⅱ (NSGA-Ⅱ) multiobjective genetic algorithm. Finally, we compare the optimized system performance index by the genetic algorithm with the optimized result of Gaot's single-objective genetics and that provided by the doctor's experience. Results show that the preoperative positioning scheme obtained by the NSGA-Ⅱ multiobjective genetic algorithm has advantages and can provide reasonable guiding suggestions for the safe realization of the operation.