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In this article, we discuss formal methods for the verification of properties of control systems designed for autonomous robotic systems. In the last few decades, robotics played a relevant role in the progress of surgery. The use of robots in the operating rooms has given rise to new terminologies: robot-assisted surgery, medical robotics, rehabilitation robotics, telesurgery, robotic assistive systems, and so on. Since robotic surgery is a relatively new field of investigation, there are no established methods for bringing new concepts and operational procedures to the surgical practice, in spite of the interest and pressing requests of the medical community.