{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,11,13]],"date-time":"2024-11-13T05:14:28Z","timestamp":1731474868955,"version":"3.28.0"},"reference-count":31,"publisher":"Cambridge University Press (CUP)","issue":"8","license":[{"start":{"date-parts":[[2024,5,27]],"date-time":"2024-05-27T00:00:00Z","timestamp":1716768000000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2024,8]]},"abstract":"Abstract<\/jats:title>In the field of laparoscopic surgery, research is currently focusing on the development of new robotic systems to assist practitioners in complex operations, improving the precision of their medical gestures. In this context, the performance of these robotic platforms can be conditioned by various factors, such as the robot\u2019s accessibility and dexterity in the task workspace. In this paper, we present a new strategy for improving the kinematic and dynamic performance of a 7-degrees of freedom robot-assisted camera-holder system for laparoscopic surgery. This approach involves the simultaneous optimization of the robot base placement and the laparoscope mounting orientation. To do so, a general robot capability representation approach is implemented in an innovative multiobjective optimization algorithm. The obtained results are first evaluated in simulation and then validated experimentally by comparing the robot\u2019s performances implementing both the existing and the optimized solution. The optimization result led to a 2% improvement in the accessibility index and a 14% enhancement in manipulability. Furthermore, the dynamic performance criteria resulted in a substantial 43% reduction in power consumption.<\/jats:p>","DOI":"10.1017\/s0263574724000870","type":"journal-article","created":{"date-parts":[[2024,5,27]],"date-time":"2024-05-27T10:36:52Z","timestamp":1716806212000},"page":"2489-2510","source":"Crossref","is-referenced-by-count":1,"title":["Robot base placement and tool mounting optimization based on capability map for robot-assistant camera holder"],"prefix":"10.1017","volume":"42","author":[{"given":"Amir","family":"Trabelsi","sequence":"first","affiliation":[]},{"given":"Juan","family":"Sandoval","sequence":"additional","affiliation":[]},{"given":"Abdelfattah","family":"Mlika","sequence":"additional","affiliation":[]},{"given":"Samir","family":"Lahouar","sequence":"additional","affiliation":[]},{"given":"Said","family":"Zeghloul","sequence":"additional","affiliation":[]},{"ORCID":"http:\/\/orcid.org\/0000-0003-0797-7669","authenticated-orcid":false,"given":"Med Amine","family":"Laribi","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2024,5,27]]},"reference":[{"key":"S0263574724000870_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3094644"},{"key":"S0263574724000870_ref5","doi-asserted-by":"publisher","DOI":"10.4293\/JSLS.2018.00039"},{"key":"S0263574724000870_ref13","doi-asserted-by":"publisher","DOI":"10.1109\/COASE.2018.8560402"},{"key":"S0263574724000870_ref23","doi-asserted-by":"publisher","DOI":"10.1109\/IRC.2018.00028"},{"key":"S0263574724000870_ref4","doi-asserted-by":"publisher","DOI":"10.1016\/j.jss.2015.01.035"},{"key":"S0263574724000870_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2013.2291630"},{"key":"S0263574724000870_ref30","article-title":"Significance of parameters in genetic algorithm, the strengths, its limitationsand challenges in image recovery","volume":"10","author":"Pitchay","year":"2015","journal-title":"J Eng Appl Sci"},{"key":"S0263574724000870_ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ROBIO.2015.7418971"},{"key":"S0263574724000870_ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487242"},{"key":"S0263574724000870_ref19","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574714001313"},{"key":"S0263574724000870_ref25","doi-asserted-by":"publisher","DOI":"10.1109\/ICCMA54375.2021.9646185"},{"key":"S0263574724000870_ref22","doi-asserted-by":"publisher","DOI":"10.1109\/ROBIO.2012.6491032"},{"key":"S0263574724000870_ref1","doi-asserted-by":"publisher","DOI":"10.1016\/j.artd.2019.04.007"},{"key":"S0263574724000870_ref8","doi-asserted-by":"crossref","unstructured":"[8] Aghakhani, N. , Geravand, M. , Shahriari, N. , Vendittelli, M. and Oriolo, G. , \u201cTask Control with Remote Center of Motion Constraintfor Minimally Invasive Robotic Surgery,\u201d In:\u00a0IEEE International Conference on Robotics and Automation (ICRA), (2013) pp. 5863.","DOI":"10.1109\/ICRA.2013.6631412"},{"key":"S0263574724000870_ref16","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574700019202"},{"key":"S0263574724000870_ref3","doi-asserted-by":"publisher","DOI":"10.1109\/ICIT.2012.6209988"},{"key":"S0263574724000870_ref17","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.1810"},{"key":"S0263574724000870_ref27","doi-asserted-by":"publisher","DOI":"10.1137\/0607034"},{"key":"S0263574724000870_ref2","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4020-9485-9_24"},{"key":"S0263574724000870_ref24","doi-asserted-by":"publisher","DOI":"10.1007\/BF03024331"},{"key":"S0263574724000870_ref28","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400201"},{"key":"S0263574724000870_ref18","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-04870-8_39"},{"key":"S0263574724000870_ref29","doi-asserted-by":"publisher","DOI":"10.1109\/56.2083"},{"key":"S0263574724000870_ref21","doi-asserted-by":"publisher","DOI":"10.1142\/S021984361350031X"},{"volume-title":"Franka Emika Robot\u2019s Instruction Handbook","year":"2018","key":"S0263574724000870_ref26"},{"key":"S0263574724000870_ref20","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7353557"},{"key":"S0263574724000870_ref12","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.453"},{"key":"S0263574724000870_ref14","doi-asserted-by":"crossref","unstructured":"[14] Vahrenkamp, N. , Asfour, T. and Dillmann, R. , \u201cRobot Placement based on Reachability Inversion,\u201d In:\u00a02013 International Conference on Robotics and Automation (ICRA), (2013) pp.1970\u20131975.","DOI":"10.1109\/ICRA.2013.6630839"},{"key":"S0263574724000870_ref15","doi-asserted-by":"publisher","DOI":"10.1016\/j.procir.2016.02.105"},{"key":"S0263574724000870_ref7","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-018-0927-0"},{"key":"S0263574724000870_ref31","unstructured":"[31] Pamanes, G. 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