Towards safe robotic surgical systems

C. Sloth*, R. Wisniewski

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review


A proof of safety is paramount for an autonomous robotic surgical system to ensure that it does not cause trauma to patients. However, a proof of safety is rarely constructed, as surgical systems are too complex to be dealt with by most formal verification methods. In this paper, we design a controller for motion compensation in beating-heart surgery, and prove that it is safe, i.e., the surgical tool is kept within an allowable distance and orientation of the heart. We solve the problem by simultaneously finding a control law and a barrier function. The motion compensation system is simulated from several initial conditions to demonstrate that the designed control system is safe for every admissible initial condition.

Original languageEnglish
Title of host publicationRecent Advances in Mechanism Design for Robotics : Proceedings of the 3rd IFToMM Symposium on Mechanism Design for Robotics, MEDER 2015
Number of pages11
PublisherKluwer Academic Publishers
Publication date2015
ISBN (Print)9783319181257
Publication statusPublished - 2015
Externally publishedYes
Event3rd IFToMM Symposium on Mechanism Design for Robotics, MEDER 2015 - Aalborg, Denmark
Duration: 2. Jun 20154. Jun 2015


Conference3rd IFToMM Symposium on Mechanism Design for Robotics, MEDER 2015
SponsorDanish RoboCluster, Thomas B. Thriges Fund
SeriesMechanisms and Machine Science


  • Barrier certificates
  • Control
  • Safety
  • Surgical robotics


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