Autonomy in surgical robots and its meaningful human control

Ficuciello, Fanny; Tamburrini, Guglielmo; Arezzo, Alberto; Villani, Luigi; Siciliano, Bruno

doi:10.1515/pjbr-2019-0002

Cited by 67 publications

(48 citation statements)

References 55 publications

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“…In a broader perspective, a differentiated approach to MHC may be of some avail as regards the general issue of human control over intelligent machines operating in ethically and legally sensitive domains, insofar as the MHC language has been recently used about autonomous vehicles [76,77] and surgical robots [78].…”

Section: Discussionmentioning

confidence: 99%

Autonomous Weapons Systems and Meaningful Human Control: Ethical and Legal Issues

Amoroso

Tamburrini

2020

Curr Robot Rep

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Purpose of Review To provide readers with a compact account of ongoing academic and diplomatic debates about autonomy in weapons systems, that is, about the moral and legal acceptability of letting a robotic system to unleash destructive force in warfare and take attendant life-or-death decisions without any human intervention. Recent Findings A précis of current debates is provided, which focuses on the requirement that all weapons systems, including autonomous ones, should remain under meaningful human control (MHC) in order to be ethically acceptable and lawfully employed. Main approaches to MHC are described and briefly analyzed, distinguishing between uniform, differentiated, and prudential policies for human control on weapons systems. Summary The review highlights the crucial role played by the robotics research community to start ethical and legal debates about autonomy in weapons systems. A concise overview is provided of the main concerns emerging in those early debates: respect of the laws of war, responsibility ascription issues, violation of the human dignity of potential victims of autonomous weapons systems, and increased risks for global stability. It is pointed out that these various concerns have been jointly taken to support the idea that all weapons systems, including autonomous ones, should remain under meaningful human control (MHC). Main approaches to MHC are described and briefly analyzed. Finally, it is emphasized that the MHC idea looms large on shared control policies to adopt in other ethically and legally sensitive application domains for robotics and artificial intelligence. Keywords Autonomous weapons systems. Roboethics. International humanitarian law. Human-robot shared control. Meaningful human control This article is part of the Topical Collection on Roboethics

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Section: Discussionmentioning

confidence: 99%

Autonomous Weapons Systems and Meaningful Human Control: Ethical and Legal Issues

Amoroso

Tamburrini

2020

Curr Robot Rep

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“…Supervised autonomy, therefore, seems to be a suitable approach in most existing surgical procedures compared with full autonomy. [354,355] Human skills and experiences can contribute to decrease the adoption barrier for robotic systems and ensure successful execution with supervised autonomy. Although deep-learning methods have achieved impressive results and outperformed human skills in some cases, the development of robotic system intelligence to a similar human level is currently unlikely due to the complexity to build.…”

Section: The Advantage and Disadvantage Of Automation In Robotic 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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“…These improved PID controllers combine the advantages of various controllers, and the control performance is significantly improved [22]. Many scholars at home and abroad have done a lot of research work on the PID controller in the trajectory tracking of the robotic arm [23]- [25]. Relevant scholars make full use of the simple structure of the PID controller and design the PID controller to realize the trajectory tracking control of the 3-DOF parallel manipulator [26], [27].…”

Section: Introductionmentioning

confidence: 99%

Low Delay Control Algorithm of Robot Arm for Minimally Invasive Medical Surgery

Xiu-mei

Yang

2020

IEEE Access

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Minimally invasive surgical robots have received more and more attention from medical patients because of their higher surgical accuracy and higher safety than doctors. Minimally invasive surgery is rapidly revolutionizing the treatment of traditional surgery. In order to solve the problem that the surgical robot has a redundant degree of freedom, which makes the kinematics solution more complicated, this paper analyzes the kinematics of the coordinate system block. Aiming at the problem that the strategy search algorithm needs to re-learn when the target pose changes, a convolutional neural network control strategy is studied and constructed. By designing the structure of the convolutional neural network visual layer and motor control layer, the loss function and sampling of the training process are established. Aiming at the problem of long training time of convolutional neural network, an effective pre-training method is proposed to shorten the training time of the neural network. At the same time, the effectiveness of the above method and the end-to-end control of the convolutional neural network strategy are verified through simulation experiments. The physical structure of the manipulator body is analyzed, and the forward and inverse kinematic equations of the manipulator are established by the D-H method. Monte Carlo method was used to analyze the working space of the manipulator, and low-latency control and simulation experiments were carried out on the movement trajectory of the manipulator in joint space and Cartesian space. The results show that the low-latency control algorithm in this paper is effective to control the mechanical arm of the minimally invasive medical surgery robot. INDEX TERMS Invasive medical surgical robot, kinematics analysis, convolutional neural network, low trajectory control.

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Autonomy in surgical robots and its meaningful human control

Cited by 67 publications

References 55 publications

Autonomous Weapons Systems and Meaningful Human Control: Ethical and Legal Issues

Autonomous Weapons Systems and Meaningful Human Control: Ethical and Legal Issues

Advanced Intelligent Systems for Surgical Robotics

Low Delay Control Algorithm of Robot Arm for Minimally Invasive Medical Surgery

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