Dynamic global/local multi-layer motion planner architecture for autonomous cognitive surgical robots

This paper presents a novel dynamic motion planner designed to provide safe motions in the context of the Smart Autonomous Robot Assistant Surgeon (SARAS) surgical platform. SARAS is a multi-robot autonomous platform designed to execute auxiliary tasks in Minimally Invasive Surgeries (MIS) with a hi...

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Autores: Sayols Baixeras, Narcís|||0000-0003-2170-4923, Hernansanz Prats, Alberto|||0000-0002-7969-5401, Sozzi, Alessio, Piccinelli, Nicola, Falezza, Fabio, Farsoni, Saverio, Casals Gelpí, Alicia|||0000-0003-4706-5533, Bonfè, Marcello, Muradore, Riccardo
Tipo de recurso: artículo
Fecha de publicación:2024
País:España
Institución:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglés
OAI Identifier:oai:upcommons.upc.edu:2117/414373
Acceso en línea:https://hdl.handle.net/2117/414373
https://dx.doi.org/10.1016/j.robot.2024.104758
Access Level:acceso abierto
Palabra clave:Surgical robots
Minimally invasive surgery
Dynamic motion planning
Cognitive control
Autonomous robots
Multi-layer control architecture
Collision avoidance
RMIS
Robòtica en medicina
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
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spelling Dynamic global/local multi-layer motion planner architecture for autonomous cognitive surgical robotsSayols Baixeras, Narcís|||0000-0003-2170-4923Hernansanz Prats, Alberto|||0000-0002-7969-5401Sozzi, AlessioPiccinelli, NicolaFalezza, FabioFarsoni, SaverioCasals Gelpí, Alicia|||0000-0003-4706-5533Bonfè, MarcelloMuradore, RiccardoSurgical robotsMinimally invasive surgeryDynamic motion planningCognitive controlAutonomous robotsMulti-layer control architectureCollision avoidanceRMISRobòtica en medicinaÀrees temàtiques de la UPC::Informàtica::Automàtica i controlThis paper presents a novel dynamic motion planner designed to provide safe motions in the context of the Smart Autonomous Robot Assistant Surgeon (SARAS) surgical platform. SARAS is a multi-robot autonomous platform designed to execute auxiliary tasks in Minimally Invasive Surgeries (MIS) with a high degree of autonomy. The development of robotic systems with a high level of autonomy and reliability requires to perceive the workspace and human actions, to contextualize them with the surgical workflow, and, finally, plan and dynamically control the required motions. The autonomous control relies on a multi-level hierarchical Finite State Machine (hFSM) that decides and supervises all robot actions and their transitions. This approach requires multi-granularity decomposition of the surgical procedure and defines different motion profiles to preserve and safely interacts with the patients’ anatomy. The motion planner is developed under the minimally invasive surgery context since it is an extreme use case where the environment is complex, dynamic and unstructured. Moreover, in the SARAS platform the autonomous robots share workspace as well as collaborate with other human-guided robotic instruments. This creates an even more complex working environment and defines a set of hierarchical relationships in which auxiliary instruments have a lower priority. The presented motion planner acts at two levels: Global and Local. The Global Planner generates an initial spline-based trajectory that, defined by a set of Control Points, follows a certain profile determined by the ongoing surgical action and the interaction with the patient’s anatomy. Then, during the execution of the motion, the Local Planner observes the workspace (anatomy and other tools) and applies different virtual potential fields to the control points to dynamically modify their position to avoid potential collisions or tool blocking while maintaining trajectory coherence. At this level, it reactively modifies the trajectory between the tool position and the next control point applying Dynamical Systems based obstacle avoidance. This approach ensures collision free connections between the spline control points. The proposed motion planner is validated in a realistic surgical scenario. The experimental results are analysed from data collected during various Robotic-Assisted Radical Prostatectomy surgeries on manikins, performed with the SARAS SOLO-SURGERY platform: the main surgeon teleoperates a daVinci Research Kit and two robotic arms autonomously perform different auxiliary surgical tasks.Peer Reviewed20242024-10-0120242024-09-17journal articlehttp://purl.org/coar/resource_type/c_6501VoRhttp://purl.org/coar/version/c_970fb48d4fbd8a85info:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/2117/414373https://dx.doi.org/10.1016/j.robot.2024.104758reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2Attribution-NonCommercial 4.0 Internationalhttp://creativecommons.org/licenses/by-nc/4.0/info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/4143732026-05-27T15:37:01Z
dc.title.none.fl_str_mv Dynamic global/local multi-layer motion planner architecture for autonomous cognitive surgical robots
title Dynamic global/local multi-layer motion planner architecture for autonomous cognitive surgical robots
spellingShingle Dynamic global/local multi-layer motion planner architecture for autonomous cognitive surgical robots
Sayols Baixeras, Narcís|||0000-0003-2170-4923
Surgical robots
Minimally invasive surgery
Dynamic motion planning
Cognitive control
Autonomous robots
Multi-layer control architecture
Collision avoidance
RMIS
Robòtica en medicina
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
title_short Dynamic global/local multi-layer motion planner architecture for autonomous cognitive surgical robots
title_full Dynamic global/local multi-layer motion planner architecture for autonomous cognitive surgical robots
title_fullStr Dynamic global/local multi-layer motion planner architecture for autonomous cognitive surgical robots
title_full_unstemmed Dynamic global/local multi-layer motion planner architecture for autonomous cognitive surgical robots
title_sort Dynamic global/local multi-layer motion planner architecture for autonomous cognitive surgical robots
dc.creator.none.fl_str_mv Sayols Baixeras, Narcís|||0000-0003-2170-4923
Hernansanz Prats, Alberto|||0000-0002-7969-5401
Sozzi, Alessio
Piccinelli, Nicola
Falezza, Fabio
Farsoni, Saverio
Casals Gelpí, Alicia|||0000-0003-4706-5533
Bonfè, Marcello
Muradore, Riccardo
author Sayols Baixeras, Narcís|||0000-0003-2170-4923
author_facet Sayols Baixeras, Narcís|||0000-0003-2170-4923
Hernansanz Prats, Alberto|||0000-0002-7969-5401
Sozzi, Alessio
Piccinelli, Nicola
Falezza, Fabio
Farsoni, Saverio
Casals Gelpí, Alicia|||0000-0003-4706-5533
Bonfè, Marcello
Muradore, Riccardo
author_role author
author2 Hernansanz Prats, Alberto|||0000-0002-7969-5401
Sozzi, Alessio
Piccinelli, Nicola
Falezza, Fabio
Farsoni, Saverio
Casals Gelpí, Alicia|||0000-0003-4706-5533
Bonfè, Marcello
Muradore, Riccardo
author2_role author
author
author
author
author
author
author
author
dc.subject.none.fl_str_mv Surgical robots
Minimally invasive surgery
Dynamic motion planning
Cognitive control
Autonomous robots
Multi-layer control architecture
Collision avoidance
RMIS
Robòtica en medicina
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
topic Surgical robots
Minimally invasive surgery
Dynamic motion planning
Cognitive control
Autonomous robots
Multi-layer control architecture
Collision avoidance
RMIS
Robòtica en medicina
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
description This paper presents a novel dynamic motion planner designed to provide safe motions in the context of the Smart Autonomous Robot Assistant Surgeon (SARAS) surgical platform. SARAS is a multi-robot autonomous platform designed to execute auxiliary tasks in Minimally Invasive Surgeries (MIS) with a high degree of autonomy. The development of robotic systems with a high level of autonomy and reliability requires to perceive the workspace and human actions, to contextualize them with the surgical workflow, and, finally, plan and dynamically control the required motions. The autonomous control relies on a multi-level hierarchical Finite State Machine (hFSM) that decides and supervises all robot actions and their transitions. This approach requires multi-granularity decomposition of the surgical procedure and defines different motion profiles to preserve and safely interacts with the patients’ anatomy. The motion planner is developed under the minimally invasive surgery context since it is an extreme use case where the environment is complex, dynamic and unstructured. Moreover, in the SARAS platform the autonomous robots share workspace as well as collaborate with other human-guided robotic instruments. This creates an even more complex working environment and defines a set of hierarchical relationships in which auxiliary instruments have a lower priority. The presented motion planner acts at two levels: Global and Local. The Global Planner generates an initial spline-based trajectory that, defined by a set of Control Points, follows a certain profile determined by the ongoing surgical action and the interaction with the patient’s anatomy. Then, during the execution of the motion, the Local Planner observes the workspace (anatomy and other tools) and applies different virtual potential fields to the control points to dynamically modify their position to avoid potential collisions or tool blocking while maintaining trajectory coherence. At this level, it reactively modifies the trajectory between the tool position and the next control point applying Dynamical Systems based obstacle avoidance. This approach ensures collision free connections between the spline control points. The proposed motion planner is validated in a realistic surgical scenario. The experimental results are analysed from data collected during various Robotic-Assisted Radical Prostatectomy surgeries on manikins, performed with the SARAS SOLO-SURGERY platform: the main surgeon teleoperates a daVinci Research Kit and two robotic arms autonomously perform different auxiliary surgical tasks.
publishDate 2024
dc.date.none.fl_str_mv 2024
2024-10-01
2024
2024-09-17
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
VoR
http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/414373
https://dx.doi.org/10.1016/j.robot.2024.104758
url https://hdl.handle.net/2117/414373
https://dx.doi.org/10.1016/j.robot.2024.104758
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial 4.0 International
http://creativecommons.org/licenses/by-nc/4.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial 4.0 International
http://creativecommons.org/licenses/by-nc/4.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,811543

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