Autonomy in Surgical Robotics
Autonomy in Surgical Robotics
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DOI：
10.1146/annurev-control-062420-090543
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发表时间：
2021-01-01
期刊：
影响因子：
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通讯作者：
Valdastri, Pietro
中科院分区：
文献类型：
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作者：
Attanasio, Aleks;Scaglioni, Bruno;Valdastri, Pietro
这篇综述研究了手术机器人中自动行为和自主行为之间的二分法，绘制了这些机器人可能的自主水平，并描述了推动该领域研究的主要支持技术。它由五个主要部分组成，涵盖了不断提高的自治水平。在 0 级，即大部分商业平台所在的位置，机器人没有决策自主权。在第 1 级，机器人可以为外科医生提供认知和身体帮助，而在第 2 级，它可以自主执行手术任务。 3 级具有条件自主性，使机器人能够计划任务并在执行过程中更新计划。最后，4 级机器人可以自主计划和执行一系列手术任务。
This review examines the dichotomy between automatic and autonomous behaviors in surgical robots, maps the possible levels of autonomy of these robots, and describes the primary enabling technologies that are driving research in this field. It is organized in five main sections that cover increasing levels of autonomy. At level 0, where the bulk of commercial platforms are, the robot has no decision autonomy. At level 1, the robot can provide cognitive and physical assistance to the surgeon, while at level 2, it can autonomously perform a surgical task. Level 3 comes with conditional autonomy, enabling the robot to plan a task and update planning during execution. Finally, robots at level 4 can plan and execute a sequence of surgical tasks autonomously.