2025/04/24 by Shankar, Kaaustaaub, Wilhelm Louw, Louw, Wilhelm +8
Computer Science · Engineering · #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #Robotic Path Planning Algorithms #Robotics (cs.RO) #Soft Robotics and Applications #Spacecraft Dynamics and Control
paper · pdf · doi:10.48550/arxiv.2504.17979
openalex publication_date 2025/04/24 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
AI-driven semi-autonomous robotic surgery is essential for addressing the medical challenges of long-duration interplanetary missions, where limited crew sizes and communication delays restrict traditional surgical approaches. Current robotic surgery systems require full surgeon control, demanding extensive expertise and limiting feasibility in space. We propose a novel adaptation of the Fuzzy Rapidly-exploring Random Tree algorithm for obstacle avoidance and collaborative control in a two-degree-of-freedom robotic arm modeled on the Miniaturized Robotic-Assisted surgical system. It was found that the Fuzzy Rapidly-exploring Random Tree algorithm resulted in an 743 percent improvement to path search time and 43 percent improvement to path cost.