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CAR-EM includes an autonomous robot and a task specification interface. It completes tasks by leveraging control synthesis, a framework that automatically transforms high-level tasks into control while providing guarantees and feedback. We conducted a feasibility study across two different hospital EDs, where interprofessional clinicians tasked the robot to perform patient assessments and item deliveries. Clinicians found the system easy to use, and particularly helpful to offload busywork. This work demonstrates control synthesis as a feasible tool to develop autonomy for robots in safety-critical spaces, and identifies considerations for failure interventions. We also discuss ethical considerations for deploying robots in hospitals, including healthcare worker displacement and work disruption. Thus, our work: (1) highlights the unique requirements of situating robots in real world hospital EDs, and (2) demonstrates a novel approach leveraging guarantees and feedback from control synthesis methods to successfully implement context-specific CAR behaviors. Through this work, we aim to further research for safer and more reliable robots in real world, uncertain environments.<\/jats:p>","DOI":"10.1145\/3797263","type":"journal-article","created":{"date-parts":[[2026,2,19]],"date-time":"2026-02-19T15:08:36Z","timestamp":1771513716000},"page":"1-22","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":0,"title":["CAR-EM: A Synthesis-Based Clinically Assistive Robot System for Emergency Medicine"],"prefix":"10.1145","volume":"15","author":[{"ORCID":"https:\/\/orcid.org\/0009-0002-0715-6756","authenticated-orcid":false,"given":"Sandhya","family":"Jayaraman","sequence":"first","affiliation":[{"name":"Computer Science and Engineering, University of California San Diego, La Jolla, California, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9852-2741","authenticated-orcid":false,"given":"Andrew","family":"Violette","sequence":"additional","affiliation":[{"name":"Cornell University, Ithaca, New York, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0004-5557-9205","authenticated-orcid":false,"given":"U Lam","family":"Lou","sequence":"additional","affiliation":[{"name":"Computer Science and Engineering, University of California San Diego, La Jolla, California, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0008-3338-8116","authenticated-orcid":false,"given":"Sruti","family":"Mani","sequence":"additional","affiliation":[{"name":"Department of Mathematics, University of California San Diego, La Jolla, California, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0003-3259-2637","authenticated-orcid":false,"given":"Divya","family":"Prakash","sequence":"additional","affiliation":[{"name":"Computer Science and Public Health, Austin College, Sherman, Texas, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5057-1915","authenticated-orcid":false,"given":"Leslie","family":"Oyama","sequence":"additional","affiliation":[{"name":"Department of Emergency Medicine, University of California San Diego, La Jolla, California, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2467-3800","authenticated-orcid":false,"given":"Christopher","family":"Coyne","sequence":"additional","affiliation":[{"name":"Department of Emergency Medicine, University of California San Diego, La Jolla, California, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7754-1011","authenticated-orcid":false,"given":"Hadas","family":"Kress-Gazit","sequence":"additional","affiliation":[{"name":"Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, New York, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7906-6691","authenticated-orcid":false,"given":"Laurel","family":"Riek","sequence":"additional","affiliation":[{"name":"Computer Science and Engineering, University of California San Diego, La Jolla, California, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2026,4,20]]},"reference":[{"issue":"12","key":"e_1_3_2_2_2","first-page":"1","article-title":"Evaluating the efficacy of autonomous robotic systems for enhanced sanitation in healthcare environments","volume":"12","author":"Abdullah Layla","year":"2022","unstructured":"Layla Abdullah and Fadi El-Hassan. 2022. 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