Towards a Holistic Workflow Optimization in the Operating Theater: Exploring Optimal Placements of Robotic Systems

The level of digitalization and automation, including robotic systems, is increasing in modern operating theaters. However, the integration of such systems within an already complex and limited environment creates challenges, such as collaboration with dynamic robots and thus potential collisions. Yet, the placements of robotic systems largely rely on empirical guidelines provided by manufacturers, which do not account for the specific requirements of operating theater layouts or individual surgical procedures. In this work, we propose a framework for optimization of robotic set-ups in the operating theater to address these limitations and to enhance the overall workflow efficiency. By utilizing a simulation-based approach, we aim to determine the optimal placement of each surgical equipment within the constrained operating theater environment. In this study, we set the stage for future efforts and demonstrate the effectiveness of our approach by determining the optimal placement of a LBR iiwa 7 R800 as a surgical assistant for an abdominal surgery. Overall this work lays the groundwork for future research that will accommodate more complex scenarios and is a crucial first step towards a holistic workflow optimization in the operating theater.