title: Pose optimization and port placement for robot-assisted minimally invasive surgery in cholecystectomy.
abstract: BACKGROUND
  Pose optimization and port placement are critical issues for preoperative preparation in robot-assisted minimally invasive surgery (RMIS), and affect the robot performance and surgery quality.
  
  
  METHODS
  This paper proposes a method for pose optimization and port placement for RMIS in cholecystectomy that considers both the robot and surgery requirements. The robot pose optimization was divided into optimization of the positioning joint configuration and optimization of the end effector configuration. To determine the optimal location for the trocar port placement, the operational workspace was defined as the evaluation index. The port area was divided into many sub-areas, and that with the maximum operational workspace was selected as the location for the port placement.
  
  
  RESULTS
  Considering the left robotic arm as an example, the location for the port placement and joints angles for robotic arm configuration were discussed and simulated using the proposed method.
  
  
  CONCLUSIONS
  This research can provide guidelines for surgeons in preoperative preparation.
authors.affiliation: Jilin University, Nan Guan District, Changchun, People's Republic of China.
authors.forename: Mei
authors.identifier: http://orcid.org/0000-0001-8355-9755
authors.initials: M
authors.lastname: Feng
authors.affiliation: Jilin University, Nan Guan District, Changchun, People's Republic of China.
authors.forename: Xingze
authors.initials: X
authors.lastname: Jin
authors.affiliation: Jilin University, Nan Guan District, Changchun, People's Republic of China.
authors.forename: Weihua
authors.initials: W
authors.lastname: Tong
authors.affiliation: Jilin University, Nan Guan District, Changchun, People's Republic of China.
authors.forename: Xiaoyu
authors.initials: X
authors.lastname: Guo
authors.affiliation: Jilin University, Nan Guan District, Changchun, People's Republic of China.
authors.forename: Ji
authors.initials: J
authors.lastname: Zhao
authors.affiliation: Harbin Institute of Technology, Nan Gang District, Harbin, People's Republic of China.
authors.forename: Yili
authors.initials: Y
authors.lastname: Fu
mesh_terms: D049628:Body Size; D002763:Cholecystectomy / Q000295:instrumentation* / Q000379:methods*; D004867:Equipment Design; D006801:Humans; D010535:Laparoscopy / Q000295:instrumentation* / Q000379:methods; D019060:Minimally Invasive Surgical Procedures / Q000295:instrumentation* / Q000379:methods; D008962:Models, Theoretical; D065287:Robotic Surgical Procedures / Q000295:instrumentation* / Q000379:methods
keywords: port placement; pose optimization; preoperative preparation; robot-assisted minimally invasive surgery