Transcription of Certifying the Safe Design of a Virtual Fixture …
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Certifying the Safe Design of a Virtual Fixture …
Certifying the Safe Design of a Virtual Fixture ControlAlgorithm for a Surgical Robot Yanni KouskoulasJohns Hopkins UniversityApplied Physics LabDavid RenshawCarnegie Mellon UniversityComputer Science PlatzerCarnegie Mellon UniversityComputer Science KazanzidesJohns Hopkins UniversityDept. of Computer ScienceABSTRACTWe applied quantified differential-dynamic logic (QdL) toanalyze a control algorithm designed to provide directionalforce feedback for a surgical robot. We identified problemswith the algorithm, proved that it was in general unsafe,and described exactly what could go wrong. We then ap-plied QdLto guide the development of a new algorithm thatprovides safe operation along with directional force KeYmaeraD (a tool that mechanizes QdL), we createda machine-checked proof that guarantees the new algorithmis safe for all possible and Subject [Logics and the Meaning of Progams]: Speci-fying and Verifying
Certifying the Safe Design of a Virtual Fixture Control Algorithm for a Surgical Robot∗ Yanni Kouskoulas Johns Hopkins University Applied Physics Lab
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