Toward Autonomous Robotic Minimally Invasive Surgery: A Hybrid Framework Combining Task-Motion Planning and Dynamic Behavior Trees

Toward Autonomous Robotic Minimally Invasive Surgery: A Hybrid Framework Combining Task-Motion Planning and Dynamic Behavior Trees

The growing need for high levels of autonomy in Autonomous Robotic Surgery Systems (ARSS) calls for innovative approaches to reduce surgeons’ cognitive load, optimize hospital workflows, and ensure efficient task-level reasoning and adaptation during execution. This paper presents a novel...

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Bibliographic Details
Main Authors: Khusniddin Fozilov, Jacinto Colan, Kosuke Sekiyama, Yasuhisa Hasegawa
Format: Article
Language:English
Published: IEEE 2023-01-01
Series:IEEE Access
Subjects:
Autonomous systems
behavior trees
hierarchical deliberation
minimally invasive surgery
multi-throw suturing
nonlinear optimization
Online Access:https://ieeexplore.ieee.org/document/10230219/

Internet

https://ieeexplore.ieee.org/document/10230219/

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