The paper describes a robot control and coordination framework for the automation of surgical tasks. In the proposed framework, surgeons do not interact with robots by means of teleoperation, but they are supported by autonomous robotic assistants. Such robots perform basic surgical actions by combining sensing, dexterity and cognitive capabilities. The goal is achieved thanks to rigorous assessment of surgical requirements, formal specification of robotic system behavior, including multiple arm coordination and human/system interaction, and control software development with state-of-the-art componentbased technologies. The paper presents an experimental setup composed of two robots operating on a US-compatible phantom, demonstrating the feasibility of the approach.
Automated Surgical Task Execution: the Needle Insertion Case
MURADORE, Riccardo;FIORINI, Paolo
2013-01-01
Abstract
The paper describes a robot control and coordination framework for the automation of surgical tasks. In the proposed framework, surgeons do not interact with robots by means of teleoperation, but they are supported by autonomous robotic assistants. Such robots perform basic surgical actions by combining sensing, dexterity and cognitive capabilities. The goal is achieved thanks to rigorous assessment of surgical requirements, formal specification of robotic system behavior, including multiple arm coordination and human/system interaction, and control software development with state-of-the-art componentbased technologies. The paper presents an experimental setup composed of two robots operating on a US-compatible phantom, demonstrating the feasibility of the approach.
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