Method of Choice of the Robot-Manipulator of Laparoscope Controlling in the Minimally Invasive Surgery

摘要

In this paper the task of the well-founded choice of the robot-manipulator of the laparoscope controlling in the minimally invasive surgery is discussed. We offer the approach on the base of the mathematical methods and expert assessment that allows us before fulfillment of the experimental researches to determine the most optimal and satisfied to the given quality parameters the type of the robot-manipulator of the laparoscope controlling. We use the systems approach by the designing of the named method of choice and then the laparoscopic complex is examined as unified complex multivariable system. As a part of a systematic approach the relations and properties between elements of the analyzed construction are determined. The objective function is selected on the base of this method and after then the assessment of the robot-manipulator with the maximal value of the effectiveness function as a part of the laparoscopic complex is defined. We offer the method of choice of the robot-manipulator of the laparoscope controlling in the minimally invasive surgery that characterized by the fact that the robot-manipulator is examined into the system, that forms the unified laparoscopic complex. This feature allows us to formalize the main parameters and restrictions of the laparoscopic complex proceeding from the characteristics and the system destination on the whole. Also we develop the expert assessment method of the robot-manipulator choice that characterized by the objective functions' building on the base of the hierarchy analysis process and efficiency criterion that allows us to choose the most efficient laparoscopic complex.