Dynamic Global/Local multi-layer motion planner architecture for autonomous Cognitive Surgical Robots

计算机科学 工作区 机器人 背景(考古学) 规划师 人工智能 运动规划 集合(抽象数据类型) 工作流程 人机交互 运动(物理) 模拟 计算机视觉 生物 古生物学 数据库 程序设计语言
作者
Narcís Sayols,Albert Hernansanz,Alessio Sozzi,Nicola Piccinelli,Fabio Falezza,Saverio Farsoni,Alı́cia Casals,Marcello Bonfè,Riccardo Muradore
出处
期刊:Robotics and Autonomous Systems [Elsevier BV]
卷期号:180: 104758-104758
标识
DOI:10.1016/j.robot.2024.104758
摘要

This paper presents a novel dynamic motion planner designed to provide safe motions in the context of the Smart Autonomous Robot Assistant Surgeon (SARAS) surgical platform. SARAS is a multi-robot autonomous platform designed to execute auxiliary tasks in Minimally Invasive Surgeries (MIS) with a high degree of autonomy. The development of robotic systems with a high level of autonomy and reliability requires to perceive the workspace and human actions, to contextualize them with the surgical workflow, and, finally, plan and dynamically control the required motions. The autonomous control relies on a multi-level hierarchical Finite State Machine (hFSM) that decides and supervises all robot actions and their transitions. This approach requires multi-granularity decomposition of the surgical procedure and defines different motion profiles to preserve and safely interacts with the patients' anatomy. The motion planner is developed under the minimally invasive surgery context since it is an extreme use case where the environment is complex, dynamic and unstructured. Moreover, in the SARAS platform the autonomous robots share workspace as well as collaborate with other human-guided robotic instruments. This creates an even more complex working environment and defines a set of hierarchical relationships in which auxiliary instruments have a lower priority. The presented motion planner acts at two levels: Global and Local. The Global Planner generates an initial spline-based trajectory that, defined by a set of Control Points, follows a certain profile determined by the ongoing surgical action and the interaction with the patient's anatomy. Then, during the execution of the motion, the Local Planner observes the workspace (anatomy and other tools) and applies different virtual potential fields to the control points to dynamically modify their position to avoid potential collisions or tool blocking while maintaining trajectory coherence. At this level, it reactively modifies the trajectory between the tool position and the next control point applying Dynamical Systems based obstacle avoidance. This approach ensures collision free connections between the spline control points. The proposed motion planner is validated in a realistic surgical scenario. The experimental results are analysed from data collected during various Robotic-Assisted Radical Prostatectomy surgeries on manikins, performed with the SARAS SOLO-SURGERY platform: the main surgeon teleoperates a daVinci Research Kit and two robotic arms autonomously perform different auxiliary surgical tasks.
最长约 10秒,即可获得该文献文件

科研通智能强力驱动
Strongly Powered by AbleSci AI
更新
PDF的下载单位、IP信息已删除 (2025-6-4)

科研通是完全免费的文献互助平台,具备全网最快的应助速度,最高的求助完成率。 对每一个文献求助,科研通都将尽心尽力,给求助人一个满意的交代。
实时播报
1秒前
xiaoningmeng完成签到,获得积分10
1秒前
在水一方应助huayi采纳,获得10
1秒前
风味烤羊腿完成签到,获得积分0
1秒前
xiaohong发布了新的文献求助10
1秒前
ccq发布了新的文献求助10
2秒前
2秒前
2秒前
tian发布了新的文献求助10
4秒前
zhangscience发布了新的文献求助10
4秒前
活力半凡完成签到,获得积分10
5秒前
北彧发布了新的文献求助10
6秒前
zsj3787发布了新的文献求助10
6秒前
自觉的傲薇应助hh采纳,获得10
6秒前
乖猫要努力应助lll采纳,获得10
7秒前
科目三应助结实的凉面采纳,获得10
8秒前
9秒前
10秒前
情怀应助北彧采纳,获得10
11秒前
香蕉觅云应助抹茶二锅头采纳,获得10
11秒前
12秒前
李健应助zsj3787采纳,获得10
12秒前
xiaohong完成签到,获得积分10
13秒前
13秒前
U9A发布了新的文献求助10
14秒前
14秒前
今后应助tian采纳,获得10
14秒前
Ava应助2240920060采纳,获得10
14秒前
15秒前
yznfly应助科研通管家采纳,获得30
15秒前
15秒前
15秒前
15秒前
15秒前
彭于晏应助科研通管家采纳,获得10
15秒前
15秒前
15秒前
沧笙踏歌应助科研通管家采纳,获得10
15秒前
沧笙踏歌应助科研通管家采纳,获得10
15秒前
华仔应助漂流的云朵采纳,获得10
18秒前
高分求助中
A new approach to the extrapolation of accelerated life test data 1000
ACSM’s Guidelines for Exercise Testing and Prescription, 12th edition 500
Picture Books with Same-sex Parented Families: Unintentional Censorship 500
Nucleophilic substitution in azasydnone-modified dinitroanisoles 500
不知道标题是什么 500
A Preliminary Study on Correlation Between Independent Components of Facial Thermal Images and Subjective Assessment of Chronic Stress 500
Phylogenetic study of the order Polydesmida (Myriapoda: Diplopoda) 370
热门求助领域 (近24小时)
化学 材料科学 医学 生物 工程类 有机化学 生物化学 物理 内科学 纳米技术 计算机科学 化学工程 复合材料 遗传学 基因 物理化学 催化作用 冶金 细胞生物学 免疫学
热门帖子
关注 科研通微信公众号,转发送积分 3971775
求助须知:如何正确求助?哪些是违规求助? 3516416
关于积分的说明 11182625
捐赠科研通 3251629
什么是DOI,文献DOI怎么找? 1796019
邀请新用户注册赠送积分活动 876216
科研通“疑难数据库(出版商)”最低求助积分说明 805358