Towards Safe Robotic Surgical Systems

Christoffer Sloth, Rafael Wisniewski

Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskningpeer review

Resumé

A proof of safety is paramount for an autonomous robotic surgical system to ensure that it does not cause trauma to patients. However, a proof of safety is rarely constructed, as surgical systems are too complex to be dealt with by most formal verification methods. In this paper, we design a controller for motion compensation in beating-heart surgery, and prove that it is safe, i.e., the surgical tool is kept within an allowable distance and orientation of the heart. We solve the problem by simultaneously finding a control law and a barrier function. The motion compensation system is simulated from several initial conditions to demonstrate that the designed control system is safe for every admissible initial condition.
OriginalsprogEngelsk
TitelRecent Advances in Mechanism Design for Robotics : Proceedings of the 3rd IFToMM Symposium on Mechanism Design for Robotics
ForlagSpringer
Publikationsdatomaj 2015
Sider165-175
ISBN (Trykt)978-3-319-18125-7
ISBN (Elektronisk)978-3-319-18126-4
DOI
StatusUdgivet - maj 2015
Begivenhed3rd IFToMM Symposium on Mechanism Design for Robotics, MEDER 2015 - Aalborg Universitet, Aalborg, Danmark
Varighed: 2 jun. 20154 jun. 2015

Konference

Konference3rd IFToMM Symposium on Mechanism Design for Robotics, MEDER 2015
LokationAalborg Universitet
LandDanmark
ByAalborg
Periode02/06/201504/06/2015
SponsorInnovationsnetværket RoboCluster, Thomas B. Thriges Fund
NavnMechanisms and Machine Science
Vol/bind33
ISSN2211-0984

Fingerprint

Motion compensation
Robotics
Surgery
Control systems
Controllers
Formal verification

Citer dette

Sloth, C., & Wisniewski, R. (2015). Towards Safe Robotic Surgical Systems. I Recent Advances in Mechanism Design for Robotics: Proceedings of the 3rd IFToMM Symposium on Mechanism Design for Robotics (s. 165-175). Springer. Mechanisms and Machine Science, Bind. 33 https://doi.org/10.1007/978-3-319-18126-4_16
Sloth, Christoffer ; Wisniewski, Rafael. / Towards Safe Robotic Surgical Systems. Recent Advances in Mechanism Design for Robotics: Proceedings of the 3rd IFToMM Symposium on Mechanism Design for Robotics. Springer, 2015. s. 165-175 (Mechanisms and Machine Science, Bind 33).
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Sloth, C & Wisniewski, R 2015, Towards Safe Robotic Surgical Systems. i Recent Advances in Mechanism Design for Robotics: Proceedings of the 3rd IFToMM Symposium on Mechanism Design for Robotics. Springer, Mechanisms and Machine Science, bind 33, s. 165-175, Aalborg, Danmark, 02/06/2015. https://doi.org/10.1007/978-3-319-18126-4_16

Towards Safe Robotic Surgical Systems. / Sloth, Christoffer; Wisniewski, Rafael.

Recent Advances in Mechanism Design for Robotics: Proceedings of the 3rd IFToMM Symposium on Mechanism Design for Robotics. Springer, 2015. s. 165-175 (Mechanisms and Machine Science, Bind 33).

Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskningpeer review

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Sloth C, Wisniewski R. Towards Safe Robotic Surgical Systems. I Recent Advances in Mechanism Design for Robotics: Proceedings of the 3rd IFToMM Symposium on Mechanism Design for Robotics. Springer. 2015. s. 165-175. (Mechanisms and Machine Science, Bind 33). https://doi.org/10.1007/978-3-319-18126-4_16