Autonomy for Surgical Robots: Concepts and Paradigms

Haidegger, Tamás

doi:10.1109/tmrb.2019.2913282

Cited by 176 publications

(119 citation statements)

References 55 publications

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“…Moreover, they are mainly concerned with the safety issues of robots, e.g. ISO 13482-2014 Robots and Robotic Devices (Safety requirements for personal care robots), ISO/TS 15066-2016 Robots and Robotic Devices (Collaborative robots), IEC 80601-2-77:2019 and IEC 80601-2-78:2019 (Basic safety and essential performance and of medical robots) [13]. Safety has been thus discussed in international standardization organizations, but no ethical standard has been published yet.…”

Section: Introductionmentioning

confidence: 99%

Robotic Standard Development Life Cycle in Action

Olszewska

Houghtaling

Gonçalves

et al. 2019

J Intell Robot Syst

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Robotics is a fast-growing field which requires the efficient development of adapted standards. Hence, in this paper, we propose a development methodology to support the robot standardization effort led by international, technical, and professional associations such as the Institute of Electrical and Electronics Engineers (IEEE). Our proposed standard development life cycle is a middle-out, iterative, collaborative, and incremental approach we have successfully applied to the development of the new IEEE Ontological Standard for Ethically Driven Robotics and Automation Systems (IEEE P7007 Standard).

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Section: Introductionmentioning

confidence: 99%

Robotic Standard Development Life Cycle in Action

Olszewska

Houghtaling

Gonçalves

et al. 2019

J Intell Robot Syst

Self Cite

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“…[28,42,43] Another type of robot-assisted surgery is a computer-controlled robotic system. [44][45][46] In this system, the surgeon uses a computer program to control the robotic arms and its end-effectors with the advantage of providing more assistance via machine-learning approaches, virtual reality (VR), haptics, and artificial intelligence (AI). For the computerized surgical method, surgeons can remotely control the system from a distance, leading to the possibility of remote surgery from anywhere.…”

Section: Robot-assisted Surgerymentioning

confidence: 99%

Advanced Intelligent Systems for Surgical Robotics

Thai

Phan

Hoang

et al. 2020

Advanced Intelligent Systems

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Surgical robots have had clinical use since the mid‐1990s. Robot‐assisted surgeries offer many benefits over the conventional approach including lower risk of infection and blood loss, shorter recovery, and an overall safer procedure for patients. The past few decades have shown many emerging surgical robotic platforms that can work in complex and confined channels of the internal human organs and improve the cognitive and physical skills of the surgeons during the operation. Advanced technologies for sensing, actuation, and intelligent control have enabled multiple surgical devices to simultaneously operate within the human body at low cost and with more efficiency. Despite advances, current surgical intervention systems are not able to execute autonomous tasks and make cognitive decisions that are analogous to those of humans. Herein, the historical development of surgery from conventional open to robotic‐assisted approaches with discussion on the capabilities of advanced intelligent systems and devices that are currently implemented in existing surgical robotic systems is reviewed. Also, available autonomous surgical platforms are comprehensively discussed with comments on the essential technologies, existing challenges, and suggestions for the future development of intelligent robotic‐assisted surgical systems toward the achievement of fully autonomous operation.

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“…Generally, the issues of free coefficients determining and techniques for non-free coefficients of reference filters identifying have not been resolved yet. Once completely developed, the controller shall be applicable to robotic application with complex geometry constraints, such as plasma processing, or even for medical applications, such as automated bone surface milling for implants [33].…”

Section: Motion Control Of a Two-link Manipulatormentioning

confidence: 99%

Application of Compensation Algorithms to Control the Movement of a Robot Manipulator

Shadrin¹

2020

ACTA POLYTECH HUNG

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This article presents an application-oriented method for the structural synthesis of control systems for multichannel linear objects. It provides a general form, based on the compensation for object dynamics and disturbances. The algorithm is based onalgebraic transformations of the mathematical model of the object and reference systems. The general procedure for the synthesis of a control algorithm is presented by the example of a SISO first-order object. Parametric robustness and correspondence of the system behavior to its own reference filters were derived. The possibility of applying this method to control non-linear objects presented in the form of "State Dependent Coefficient (SDC)" is ascertained. A simplified example is given by the synthesis of the motion control of a onelink manipulator with a drive, described by a second-order nonlinear equation. Control of a two-link manipulator represented by its linearized equation is demonstrated. The convenience of the proposed synthesis method for controlling multi-channel objects under certain simplifications allowed by the specifics of the use of objects is shown. The numerical example shows the independence of the system through individual channels, a zero static error in all the modes of operation and the correspondence of the system behavior to given dynamics.

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Autonomy for Surgical Robots: Concepts and Paradigms

Cited by 176 publications

References 55 publications

Robotic Standard Development Life Cycle in Action

Robotic Standard Development Life Cycle in Action

Advanced Intelligent Systems for Surgical Robotics

Application of Compensation Algorithms to Control the Movement of a Robot Manipulator

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