Scenario-Based Programming of Voice-Controlled Medical Robotic Systems

Abstract

An important issue in medical robotics is communication between physicians and robots. Speech-based communication is of particular advantage in robot-assisted surgery. It frees the surgeon's hands; hence, he can focus on the principal tasks. Man-machine voice communication is the subject of research in various domains (industry, social robotics), but medical robots are very specific. They must precisely synchronize their activities with operators. Voice commands must be possibly short. They must be executed without significant delays. An important factor is the use of a vision system that provides visual information in direct synchronization with surgeon actions. Its functions could be also controlled using speech. The aim of the research presented in this paper was to develop a method facilitating creation of voice-controlled medical robotic systems, fulfilling the mentioned requirements and taking into account possible scenarios of man-machine collaboration in such systems. A robot skill description (RSD) format was proposed in order to facilitate programming of voice control applications. A sample application was developed, and experiments were conducted in order to draw conclusions regarding the usefulness of speech-based interfaces in medical robotics. The results show that a reasonable selection of system functions controlled by voice may lead to significant improvement of man-machine collaboration.