The research on medical robotics is starting to address the autonomous execution of surgical tasks, without effective intervention of humans apart from supervision and task configuration. This paper addresses the complete automation of a surgical robot by combining advanced sensing, cognition and control capabilities, developed according to rigorous assessment of surgical requirements, formal specification of robotic system behavior and software design and implementation based on solid tools and frameworks. In particular, the paper focuses on the cognitive control architecture and its development process, based on formal modeling and verification methods as best practices to ensure safe and reliable behavior. Full implementation of the proposed architecture has been tested on an experimental setup including a novel robot specifically designed for surgical applications, but adaptable to different selected tasks (i.e. needle insertion, wound suturing).


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    A Cognitive Robot Control Architecture for Autonomous Execution of Surgical Tasks



    Erscheinungsdatum :

    2016-01-01



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    004 / 629



    A Cognitive Robot Control Architecture for Autonomous Execution of Surgical Tasks

    Nicola Preda / Federica Ferraguti / Giacomo De Rossi et al. | BASE | 2016

    Freier Zugriff

    Heterogeneous Multi-robot Mission Planning for Coordinated Tasks Execution

    Dwiyasa, Felis / Lim, Meng-Hiot / Kang, Pyo et al. | Springer Verlag | 2020


    Robot Actions Planning And Execution Control For Autonomous Exploration Rovers

    Gallien, M. / Ingrand, F. / Lemai, S. et al. | British Library Conference Proceedings | 2005


    Execution Control of Robotic Tasks for UUVs

    Coletta, P. / Bono, R. / Bruzzone, G. et al. | British Library Conference Proceedings | 2002


    Behavior-based multi-robot collaboration for autonomous construction tasks

    Stroupe, Ashley / Huntsberger, Terry / Okon, Avi et al. | NTRS | 2005