Arrangement Optimization of Robotic surgery Arms at Sinaflex surgical platform

robot placement and port position on the patient's body, and so on, can affect the final results of surgery. This study investigates the effect of the ports' position and the surgical organ's position on choosing how to install and arrange the Sinaflex slave robotic surgery platform. For this purpose, a method is suggested to maximize the shared workspace of robotic arms and minimize the unwanted portion of their workspaces. The Pattern-Search algorithm is applied to find the best port position to maximize the shared workspace in the range of motion of joints. The surgical site is once assumed on the patient's body longitudinal centerline. It is again located at a +75 mm distance from the longitudinal centerline in the lateral direction for the exact longitudinal level. According to the results, when the port position is 75 mm distant from the centerline and two manipulators are mounted on the same side, the shared volume is 3.8783e+06 mm3, and the volume of undesired space is zero. However, for two-sided docking arrangements, they are not better than side placement. It can be inferred that installing two arms on one side of the bed will be better if the surgical position is inclined to the sides from the centerline.