Optimal Robot Base Alignment for Medical Procedures

Abstract Robotic systems represent a potential solution for the automation of medical procedures, such as surgeries or ultrasound examinations, thus providing reliable support in future patient care. In automated examination routines, appropriate placement of the robot in the treatment room is challenging. This work focuses on the influence of the orientation of the robot base, i.e., its mounting angle, to achieve high reachability of the target poses in the workspace. The paper proposes an automated method for optimal robot base alignment using Inverse Reachability Maps and workspace collision checking.