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dc.contributor.authorCasals Gelpi, Alicia
dc.contributor.authorSayols Baixeras, Narcís
dc.contributor.authorHernansanz Prats, Alberto
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.contributor.otherUniversitat Politècnica de Catalunya. Doctorat en Automàtica, Robòtica i Visió
dc.date.accessioned2021-02-10T10:56:19Z
dc.date.available2021-02-10T10:56:19Z
dc.date.issued2020
dc.identifier.citationCasals, A.; Sayols, N.; Hernansanz, A. A hFSM based cognitive control architecture for assistive task in R-MIS. A: Conference on New Technologies for Computer and Robot Assisted Surgery. "Conference on New Technologies for Computer and Robot Assisted Surgery CRAS2020, Barcelona, Spain, 28-30 September 2020". 2020, p. 44-45.
dc.identifier.urihttp://hdl.handle.net/2117/338253
dc.description.abstractSARAS aims to develop assistive surgical robots for laparoscopic MIS, autonomously operating in the same workspace of either a teleoperated surgical robot or a manually driven surgical tool. The auxiliary robots autonomously decide which task perform to assist the main surgeon, planning motions for executing the task considering the dynamics of human driven tools and patient's organs (predictable only within a short time horizon). This paper proposes a control architecture for surgical robotic assistive tasks in MIS using a hierarchical multi-level Finite State Machine (hFSM) as the cognitive control and a two-layered motion planner for the execution of the task. The hFSM models the operation starting from atomic actions to progressively build up more complex levels. The two-layer architecture of the motion planner merges the benefits of an offline geometric path construction method with those of online trajectory reconfiguration and reactive adaptation.
dc.format.extent2 p.
dc.language.isoeng
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshLaparoscopic surgery
dc.subject.lcshRobotics in medicine
dc.subject.otherSurgical robotics
dc.subject.othercognitive robotics
dc.subject.otherMIS
dc.titleA hFSM based cognitive control architecture for assistive task in R-MIS
dc.typeConference report
dc.subject.lemacCirurgia laparoscòpica
dc.subject.lemacRobòtica en medicina
dc.contributor.groupUniversitat Politècnica de Catalunya. GRINS - Grup de Recerca en Robòtica Intel·ligent i Sistemes
dc.relation.publisherversionhttps://cras-eu.org/
dc.rights.accessOpen Access
local.identifier.drac29548452
dc.description.versionPostprint (published version)
local.citation.authorCasals, A.; Sayols, N.; Hernansanz, A.
local.citation.contributorConference on New Technologies for Computer and Robot Assisted Surgery
local.citation.publicationNameConference on New Technologies for Computer and Robot Assisted Surgery CRAS2020, Barcelona, Spain, 28-30 September 2020
local.citation.startingPage44
local.citation.endingPage45


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Except where otherwise noted, content on this work is licensed under a Creative Commons license : Attribution-NonCommercial-NoDerivs 3.0 Spain