Autonomous robotic surgery requires deliberation, i.e. the ability to plan and execute a task adapting to uncertain and dynamic environments. Uncertainty in the surgical domain is mainly related to the partial pre-operative knowledge about patient-specific anatomical properties. In this paper, we introduce a logic-based framework for surgical tasks with deliberative functions of monitoring and learning. The DEliberative Framework for Robot-Assisted Surgery (DEFRAS) estimates a pre-operative patient-specific plan, and executes it while continuously measuring the applied force obtained from a biomechanical pre-operative model. Monitoring module compares this model with the actual situation reconstructed from sensors. In case of significant mismatch, the learning module is invoked to update the model, thus improving the estimate of the exerted force. DEFRAS is validated both in simulated and real environment with da Vinci Research Kit executing soft tissue retraction. Compared with state-of-the art related works, the success rate of the task is improved while minimizing the interaction with the tissue to prevent unintentional damage.

A new long-term funding programme to support farmers, growers, foresters and other businesses to embrace innovative ways to maximise productivity and drive sustainability has opened for applications today, 20 October. The Farming Innovation Programme, one of the new measures set out in the Government's Agricultural Transition Plan, will support ambitious projects to transform productivity and enhance environmental sustainability in England's agricultural and horticultural sectors, whilst driving the sectors towards net zero. In partnership with UK Research & Innovation (UKRI), Defra is today making £17.5 million available for the first round of the three funds which make up the Programme. The first fund to open is the'Industry-led R&D Partnerships Fund', where farmers, growers, foresters and businesses can bid for funding to develop new technologies and practices that will help them overcome challenges and exploit new opportunities in the sector such as the use of artificial intelligence and low-emission machineries to optimise the production process, and the development of climate-resilient crops. Early next year, Defra will launch the'Farming Futures R&D Fund', for strategic projects aimed at tackling climate change by reducing the environmental impact of farming.