Multi-criteria optimization of the 4 links of an 8 DOF haptic master device for a surgical robot

This paper discusses multi-criteria optimization of the 4 links of an 8 DOF haptic master device for a minimally invasive surgery. In minimally invasive surgery, because of limited information from surgical scene, sensation of feedback force and manipulability of device are important factors during surgery. Therefore, optimization of the device is required for efficiency of surgical procedures. To achieve this purpose, physical meanings of various performance indices are introduced. And some performance indices such as workspace, kinematic manipulability and force isotropy index are considered. Also, to measure global condition of these indices, global indices are defined and calculated by using monte-carlo method. And then genetic algorithm is used to get optimal link lengths in this multi-criteria optimization problem.