Nowadays the main research interests in the field of Robotic Minimally Invasive Surgery (R-MIS) are related to robots’ autonomy. Techniques like trajectory planning, collision avoidance, decision making and scene understanding require technical advances in order to be applied to such an environment. In this paper, we propose a deterministic supervisory controller for a surgical semi-autonomous robotic platform.
A supervisory controller for semi-autonomous surgical interventions
Fabio Falezza;Nicola Piccinelli;Andrea Roberti;Francesco Setti;Riccardo Muradore;Paolo Fiorini
2020-01-01
Abstract
Nowadays the main research interests in the field of Robotic Minimally Invasive Surgery (R-MIS) are related to robots’ autonomy. Techniques like trajectory planning, collision avoidance, decision making and scene understanding require technical advances in order to be applied to such an environment. In this paper, we propose a deterministic supervisory controller for a surgical semi-autonomous robotic platform.
File in questo prodotto:
Non ci sono file associati a questo prodotto.
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
