Autonomous task planning and situation awareness in robotic surgery
The use of robots in minimally invasive surgery has improved the quality of standard surgical procedures. So far, only the automation of simple surgical actions has been investigated by researchers, while the execution of structured tasks requiring reasoning on the environment and the choice among multiple actions is still managed by human surgeons. In this paper, we propose a framework to implement surgical task automation. The framework consists of a task-level reasoning module based on answer set programming, a low-level motion planning module based on dynamic movement primitives, and a situation awareness module. The logic-based reasoning module generates explainable plans and is able to recover from failure conditions, which are identified and explained by the situation awareness module interfacing to a human supervisor, for enhanced safety. Dynamic Movement Primitives allow to replicate the dexterity of surgeons and to adapt to obstacles and changes in the environment. The framework is validated on different versions of the standard surgical training peg-and-ring task.
Code (0)
등록된 구현이 없습니다.
Tasks
Motion PlanningTask PlanningSimilar Papers 제목 키워드 기반
Agentic Knowledgeable Self-awareness
Large Language Models (LLMs) have achieved considerable performance across various agentic planning tasks. However, traditional agent planning approaches adopt a "flood irrigation" methodology that indiscriminately injec…
Decision MakingTRIFFID: Autonomous Robotic Aid For Increasing First Responders Efficiency
The increasing complexity of natural disaster incidents demands innovative technological solutions to support first responders in their efforts. This paper introduces the TRIFFID system, a comprehensive technical framewo…
Autonomous NavigationDisaster ResponseKnowledge GraphsNavigateExpansion of situations theory for exploring shared awareness in human-intelligent autonomous systems
Intelligent autonomous systems are part of a system of systems that interact with other agents to accomplish tasks in complex environments. However, intelligent autonomous systems integrated system of systems add additio…
The ORCA Hub: Explainable Offshore Robotics through Intelligent Interfaces
We present the UK Robotics and Artificial Intelligence Hub for Offshore Robotics for Certification of Assets (ORCA Hub), a 3.5 year EPSRC funded, multi-site project. The ORCA Hub vision is to use teams of robots and auto…
From SLAM to Situational Awareness: Challenges and Survey
The capability of a mobile robot to efficiently and safely perform complex missions is limited by its knowledge of the environment, namely the situation. Advanced reasoning, decision-making, and execution skills enable a…
Decision MakingSensor FusionSimultaneous Localization and MappingState Estimation+1