Autonomous robotic systems are complex, hybrid, and often safety critical; this makes their formal specification and verification uniquely challenging. Though commonly used, testing and simulation ...alone are insufficient to ensure the correctness of, or provide sufficient evidence for the certification of, autonomous robotics. Formal methods for autonomous robotics have received some attention in the literature, but no resource provides a current overview. This article systematically surveys the state of the art in formal specification and verification for autonomous robotics. Specially, it identifies and categorizes the challenges posed by, the formalisms aimed at, and the formal approaches for the specification and verification of autonomous robotics.
This paper is about long-term navigation in environments whose appearance changes over time, suddenly or gradually. We describe, implement and validate an approach which allows us to incrementally ...learn a model whose complexity varies naturally in accordance with variation of scene appearance. It allows us to leverage the state of the art in pose estimation to build over many runs, a world model of sufficient richness to allow simple localisation despite a large variation in conditions. As our robot repeatedly traverses its workspace, it accumulates distinct visual experiences that in concert, implicitly represent the scene variation: each experience captures a visual mode. When operating in a previously visited area, we continually try to localise in these previous experiences while simultaneously running an independent vision-based pose estimation system. Failure to localise in a sufficient number of prior experiences indicates an insufficient model of the workspace and instigates the laying down of the live image sequence as a new distinct experience. In this way, over time we can capture the typical time-varying appearance of an environment and the number of experiences required tends to a constant. Although we focus on vision as a primary sensor throughout, the ideas we present here are equally applicable to other sensor modalities. We demonstrate our approach working on a road vehicle operating over a 3-month period at different times of day, in different weather and lighting conditions. We present extensive results analysing different aspects of the system and approach, in total processing over 136,000 frames captured from 37 km of driving.
Robot-assisted surgery is developing as an acme of minimally invasive surgery, given its utmost dominance over laparoscopic surgery. The objective was to review the status of robotic surgery in ...urological practice with its advantages and disadvantages in current scenario. We conducted a literature search using MEDLINE and identified 72 articles which were relevant to urology. Single-port and various multiport robotic platforms like Da Vinci, Versius, Hugo RAS, Revo-I, Senhance, Mantra, Avatera, Hinotori, and MicroSurge are described with pros and cons. With a surge in different medical surgical robots purging into the market and a race to become the next standard of care in robotic surgery, it is only a matter of time when robotic surgery becomes financially comparable to laparoscopic surgeries.
Robotic-assisted gastrectomy for gastric cancer: a European perspective van Boxel, Gijsbert I.; Ruurda, Jelle P.; van Hillegersberg, Richard
Gastric cancer : official journal of the International Gastric Cancer Association and the Japanese Gastric Cancer Association,
09/2019, Letnik:
22, Številka:
5
Journal Article
Recenzirano
Odprti dostop
Gastrectomy is the mainstay treatment for gastric cancer. To reduce the associated patient burden, minimally invasive gastrectomy was introduced in almost 30 years ago. The increase in the ...availability of surgical robotic systems led to the first robotic-assisted gastrectomy to be performed in 2002 in Japan. Robotic gastrectomy however, particularly in Europe, has not yet gained significant traction. Most reports to date are from Asia, predominantly containing observational studies. These cohorts are commonly different in the tumour stage, location (particularly with regards to gastroesophageal junctional tumours) and patient BMI compared to those encountered in Europe. To date, no randomised clinical trials have been performed comparing robotic gastrectomy to either laparoscopic or open equivalent. Cohort studies show that robotic gastrectomy is equal oncological outcomes in terms of survival and lymph node yield. Operative times in the robotic group are consistently longer compared to laparoscopic or open gastrectomy, although evidence is emerging that resectional surgical time is equal. The only reproducibly significant difference in favour of robot-assisted gastrectomy is a reduction in intra-operative blood loss and some studies show a reduction in the risk of pancreatic fistula formation.
Within this paper a new path planning algorithm for autonomous robotic exploration and inspection is presented. The proposed method plans online in a receding horizon fashion by sampling possible ...future configurations in a geometric random tree. The choice of the objective function enables the planning for either the exploration of unknown volume or inspection of a given surface manifold in both known and unknown volume. Application to rotorcraft Micro Aerial Vehicles is presented, although planning for other types of robotic platforms is possible, even in the absence of a boundary value solver and subject to nonholonomic constraints. Furthermore, the method allows the integration of a wide variety of sensor models. The presented analysis of computational complexity and thorough simulations-based evaluation indicate good scaling properties with respect to the scenario complexity. Feasibility and practical applicability are demonstrated in real-life experimental test cases with full on-board computation.
Abstract
Tactile sensing technology is crucial for soft grippers. Soft grippers equipped with intelligent tactile sensing systems based on various sensors can interact safely with the unstructured ...environments and obtain precise properties of objects (e.g., size and shape). It is essential to develop state‐of‐the‐art sensing technologies for soft grippers to handle different grasping tasks. In this review, the development of tactile sensing techniques for robotic hands is first introduced. Then, the principles and structures of different types of sensors normally adopted in soft grippers, including capacitive tactile sensors, piezoresistive tactile sensors, piezoelectric tactile sensors, fiber Bragg grating (FBG) sensors, vision‐based tactile sensors, triboelectric tactile sensors, and other advanced sensors developed recently are briefly presented. Furthermore, sensing modalities and methodologies for soft grippers are also described in aspects of force measurement, perception of object properties, slip detection, and fusion of perception. The application scenarios of soft grippers are also summarized based on these advanced sensing technologies. Finally, the challenges of tactile sensing technologies for soft grippers that need to be tackled are discussed and perspectives in addressing these challenges are pointed out.
Complex biological systems sense, process, and respond to their surroundings in real time. The ability of such systems to adapt their behavioral response to suit a range of dynamic environmental ...signals motivates the use of biological materials for other engineering applications. As a step toward forward engineering biological machines (bio-bots) capable of nonnatural functional behaviors, we created a modular light-controlled skeletal muscle-powered bioactuator that can generate up to 300 μN (0.56 kPa) of active tension force in response to a noninvasive optical stimulus. When coupled to a 3D printed flexible bio-bot skeleton, these actuators drive directional locomotion (310 μm/s or 1.3 body lengths/min) and 2D rotational steering (2°/s) in a precisely targeted and controllable manner. The muscle actuators dynamically adapt to their surroundings by adjusting performance in response to “exercise” training stimuli. This demonstration sets the stage for developing multicellular bio-integrated machines and systems for a range of applications.
Robotic minimal invasive surgery is gaining acceptance in surgical care. In contrast with the appreciated three-dimensional vision and enhanced dexterity, haptic feedback is not offered. For this ...reason, robotics is not considered beneficial for delicate interventions such as the endometriosis. Overall, haptic feedback remains debatable and yet unproven except for some simple scenarios such as fundamentals of laparoscopic surgery exercises. Objective: This work investigates the benefits of haptic feedback on more complex surgical gestures, manipulating delicate tissue through coordination between multiple instruments. Methods: A new training exercise, "endometriosis surgery exercise" (ESE) has been devised approximating the setting for monocular robotic endometriosis treatment. A bimanual bilateral teleoperation setup was designed for laparoscopic laser surgery. Haptic guidance and haptic feedback are, respectively, offered to the operator. User experiments have been conducted to assess the validity of ESE and examine possible advantages of haptic technology during execution of bimanual surgery. Results: Content and face validity of ESE were established by participating surgeons. Surgeons suggested ESE also as a mean to train lasering skills, and interaction forces on endometriotic tissue were found to be significantly lower when a bilateral controller is used. Collisions between instruments and the environment were less frequent and so were situations marked as potentially dangerous. Conclusion: This study provides some promising results suggesting that haptics may offer a distinct advantage in complex robotic interventions were fragile tissue is manipulated. Significance: Patients need to know whether it should be incorporated. Improved understanding of the value of haptics is important as current commercial surgical robots are widely used but do not offer haptics.
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