A Cognitive Robot Control Architecture for Autonomous Execution of Surgical Tasks

Nicola Preda, Federica Ferraguti, Giacomo De Rossi, Cristian Secchi, Riccardo Muradore, Paolo Fiorini, Marcello Bonfè
2016 Journal of Medical Robotics Research  
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
more » ... 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).
doi:10.1142/s2424905x16500082 fatcat:dowbpmhnizdfjk3gxas6piubsu