  Behavior trees (BTs) emerged from video game development as a graphical
language for modeling intelligent agent behavior. BTs have several properties
which are attractive for modeling medical procedures including
human-readability, authoring tools, and composability. This paper will
illustrate construction of BTs for exemplary medical procedures. We are pleased
to acknowledge support from National Science Foundation grant #IIS-1637444 and
collaborations on that project with Johns Hopkins University and Worcester
Polytechnic Institute.
