Abstract:The paper presents a model-based robot planning and control framework for human assistive robots-namely for Scrub Nurse Robots. We focus on endoscopic surgery as one of the most relevant surgery type for applying robot assistants. We demonstrate that our framework provides means for seamless integration of sensor data capture, cognitive functions for interpretation of sensor data, model based continual planning and actuation control. The novel component of the architecture is a distributed continual planning s… Show more
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