Shared autonomy in surgical robotics

This project aims to develop a shared autonomy framework for surgical robotic systems to enable faster and safer surgical procedures. ;

;Sharing workspace between a surgeon and a robotic system poses various challenges, such as

(1) allocation of tasks to the human operator and the robotic system.

(2) management of shared workspace to ensure collision-free operation.

(3) safe hand-off between the human operator and robotic system.

To achieve shared autonomy, the autonomous robot operation must not hinder the human operator; e.g. while the robotic system could dissect the tissue, the human operator should be able to perform another task (e.g, suturing) in the same workspace. ;