The next stage for robotics development is to introduce autonomy and cooperation with human agents in tasks that require high levels of precision and/or that exert considerable physical strain. To guarantee the highest possible safety standards, the best approach is to devise a deterministic automaton that performs identically for each operation. Clearly, such approach inevitably fails to adapt itself to changing environments or different human companions. In a surgical scenario, the highest variability happens for the timing of different actions performed within the same phases. This paper presents a cognitive control architecture that uses a multi-modal neural network trained on a cooperative task performed by human surgeons and produces an action segmentation that provides the required timing for actions while maintaining full phase execution control via a deterministic Supervisory Controller and full execution safety by a velocity-constrained Model-Predictive Controller.

A First Evaluation of a Multi-Modal Learning System to Control Surgical Assistant Robots via Action Segmentation

Giacomo De Rossi
Conceptualization
;
Serena Roin
Software
;
Fabio Falezza
Software
;
Francesco Setti
Writing – Review & Editing
;
Riccardo Muradore
Supervision
2021

Abstract

The next stage for robotics development is to introduce autonomy and cooperation with human agents in tasks that require high levels of precision and/or that exert considerable physical strain. To guarantee the highest possible safety standards, the best approach is to devise a deterministic automaton that performs identically for each operation. Clearly, such approach inevitably fails to adapt itself to changing environments or different human companions. In a surgical scenario, the highest variability happens for the timing of different actions performed within the same phases. This paper presents a cognitive control architecture that uses a multi-modal neural network trained on a cooperative task performed by human surgeons and produces an action segmentation that provides the required timing for actions while maintaining full phase execution control via a deterministic Supervisory Controller and full execution safety by a velocity-constrained Model-Predictive Controller.
surgical robotics, statecharts, supervisory controller, autonomous robotics
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11562/1053227
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