HEalthcare Robotics’ ONtology (HERON): An Upper Ontology for Communication, Collaboration and Safety in Healthcare Robotics

<b>Background:</b> Healthcare robotics needs context-aware policy-compliant reasoning to achieve safe human-agent collaboration. The current ontologies fail to provide healthcare-relevant information and flexible semantic enforcement systems. <b>Methods:</b> HERON represents a modular upper ontology which enables healthcare robotic systems to communicate and collaborate while ensuring safety during operations. The system enables domain-specific instantiations through SPARQL queries and SHACL-based constraint validation to perform context-driven logic. The system models robotic task interactions through simulated eldercare and diagnostic and surgical support scenarios which follow ethical and regulatory standards. <b>Results:</b> The validation tests demonstrated HERON's capacity to enable safe and explainable autonomous operations in changing environments. The semantic constraints enforced proper eligibility for roles and privacy conditions and policy override functionality during agent task execution. The HERON system demonstrated compatibility with healthcare IT systems and demonstrated adaptability to the GDPR and other policy frameworks. <b>Conclusions:</b> The semantically rich framework of HERON establishes an interoperable foundation for healthcare robotics. The system architecture maintains an open design which enables HL7/FHIR standard integration and robotic middleware compatibility. HERON demonstrates superior healthcare-specific capabilities through its evaluation against SUMO HL7 and MIMO. The future research will focus on optimizing HERON for low-resource clinical environments while extending its applications to remote care emergency triage and adaptive human-robot collaboration.