CoSTAR in Surgery: A Cross-platform User Interface for Surgical Robot Task Specification
نویسندگان
چکیده
Human-Robot Collaboration (HRC) in surgery has been an emerging field of study in recent years, which aims at incorporating the advantages of both surgeon and machine to improve safety, accuracy and speed. In this work, we propose a cross-platform, open-source framework that would facilitate surgical HRC research. The work is based on CoSTAR, a Behavior-Tree based framework for end-user instruction of industrial robots [1]. To demonstrate its feasibility as a platform for collaborative surgical robot research, we generalized the original system and implemented it on the da Vinci Research Kit (dVRK), while maintaining its full functionality on other robot platforms such as UR5 and KUKA LBR iiwa.
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