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Cognitive Robotic Architecture for Semi-Autonomous Execution of Manipulation Tasks in a Surgical Environment | IEEE Conference Publication | IEEE Xplore

Cognitive Robotic Architecture for Semi-Autonomous Execution of Manipulation Tasks in a Surgical Environment


Abstract:

The development of robotic systems with a certain level of autonomy to be used in critical scenarios, such as an operating room, necessarily requires a seamless integrati...Show More

Abstract:

The development of robotic systems with a certain level of autonomy to be used in critical scenarios, such as an operating room, necessarily requires a seamless integration of multiple state-of-the-art technologies. In this paper we propose a cognitive robotic architecture that is able to help an operator accomplish a specific task. The architecture integrates an action recognition module to understand the scene, a supervisory control to make decisions, and a model predictive control to plan collision-free trajectory for the robotic arm taking into account obstacles and model uncertainty. The proposed approach has been validated on a simplified scenario involving only a da VinciO surgical robot and a novel manipulator holding standard laparoscopic tools.
Date of Conference: 03-08 November 2019
Date Added to IEEE Xplore: 28 January 2020
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Conference Location: Macau, China

References

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