Deliberation in autonomous robotic surgery: a framework for handling anatomical uncertainty
Eleonora Tagliabue,Daniele Meli,Diego Dall'Alba,Paolo Fiorini,Eleonora Tagliabue,Daniele Meli,Diego Dall'Alba,Paolo Fiorini
Autonomous robotic surgery requires deliberation, i.e. the ability to plan and execute a task adapting to uncer-tain and dynamic environments. Uncertainty in the surgical domain is mainly related to the partial pre-operative knowledge about patient-specific anatomical properties. In this paper, we introduce a logic-based framework for surgical tasks with deliberative functions of monitoring and le...
