Autonomy in Surgical Robotics

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...

Full description

Saved in:
Bibliographic Details
Published in:Annual review of control, robotics, and autonomous systems robotics, and autonomous systems, 2021-05, Vol.4 (1), p.651-679
Main Authors: Attanasio, Aleks, Scaglioni, Bruno, De Momi, Elena, Fiorini, Paolo, Valdastri, Pietro
Format: Article
Language:English
Subjects:
autonomous robots
autonomy
robotic surgery
surgical robotics
Citations: Items that this one cites
Items that cite this one
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary: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.
ISSN:2573-5144
2573-5144
DOI:10.1146/annurev-control-062420-090543