论文标题
机器人手术中的自治任务计划和情况意识
Autonomous task planning and situation awareness in robotic surgery
论文作者
论文摘要
在微创手术中使用机器人可以提高标准手术程序的质量。到目前为止，研究人员仅研究了简单的手术动作的自动化，而人类外科医生仍能管理需要在环境上进行推理的结构性任务和多个动作的选择。在本文中，我们提出了一个实施手术任务自动化的框架。该框架由一个基于答案集编程的任务级推理模块，基于动态运动原始图的低级运动计划模块以及情况意识模块。基于逻辑的推理模块会生成可解释的计划，并能够从失败条件中恢复，这些情况通过与人类主管接口的情况确定和解释，以提高安全性。动态运动原始素可以复制外科医生的敏捷性，并适应环境的障碍和变化。该框架在标准手术训练钉和环任务的不同版本上进行了验证。
The use of robots in minimally invasive surgery has improved the quality of standard surgical procedures. So far, only the automation of simple surgical actions has been investigated by researchers, while the execution of structured tasks requiring reasoning on the environment and the choice among multiple actions is still managed by human surgeons. In this paper, we propose a framework to implement surgical task automation. The framework consists of a task-level reasoning module based on answer set programming, a low-level motion planning module based on dynamic movement primitives, and a situation awareness module. The logic-based reasoning module generates explainable plans and is able to recover from failure conditions, which are identified and explained by the situation awareness module interfacing to a human supervisor, for enhanced safety. Dynamic Movement Primitives allow to replicate the dexterity of surgeons and to adapt to obstacles and changes in the environment. The framework is validated on different versions of the standard surgical training peg-and-ring task.
