Run-time Monitoring for Robot-Assisted Surgery

Abstract

We present a proposal to support surgeons during robot-assisted surgery. Our approach is based on run-time monitoring for properties that should hold during the surgery, and issuing a warning to the surgeon if they are violated. We outline the general approach involving properties that require both visual input from the cameras as well as kinematic information obtained from the robot’s manipulators. Then we describe preliminary work on monitoring using purely kinematic information.