ScreamaeraX: Modeling Laryngeal Surgical Robots Using Differential Dynamic Logic
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open in viewerSurgical robots are a benefit to both doctors and patients, but carry risks in their usage. Modeling them as cyber-physical systems allows us to formally prove that they will not violate safety conditions. The Super-elastic Continuum Robot for Endoscopic Articulation and Manipulation (SCREAM) is a laryngeal endoscopic robot designed for better reachability within the larynx. We created mathematical models with differential equations of a SCREAM’s motion in progressively more complex ways. We used Differential Dynamic Logic (dL) to prove the safety of these models with a proof assistant. In this, the safety condition was not stabbing the larynx of a patient. We created four models, one in two dimensions and three in three dimensions, each one with a closer to accurate model of motion than the previous.
- This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.
- Creator
- Subject
- Publisher
- Identifier
- E-project-042423-011908
- 104506
- Palavra-chave
- Advisor
- Year
- 2023
- UN Sustainable Development Goals
- Date created
- 2023-04-24
- Resource type
- Major
- Source
- E-project-042423-011908
- Rights statement
- Última modificação
- 2023-06-22
Relações
- Em Collection:
Itens
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