High Performance Computing for Simulation, Planning and Execution of Robot-Assisted Surgery

这是工程局和计算机信息和工程局的一项联合倡议。这项研究涉及卡内基梅隆大学和沙迪赛德医院的机器人学家、计算机科学家、生物机械学家和外科医生之间的合作，以推进医疗机器人技术的最先进水平。机器人技术和基于计算机的技术为医学提供了改善外科实践的绝佳机会。手术机器人特别适合于骨科等医疗领域，在这些领域，临床上需要准确执行基于生物力学的术前计划。为了充分实现医疗机器人的前景，还需要发展：(1)结合生物系统复杂生物力学的手术模拟器，(2)临床实用的手术切割和配准技术，(3)术前和术中人机交互的有效方法。跨学科研究团队将为骨科创造先进的数值模拟能力，基于表面注册和高速3-D传感的机器人技术，以及以临床有意义的方式呈现生物力学和术中信息的人机界面。这些进展将通过现实的手术模拟器和创伤较小的机器人工具来补充外科医生的能力，以实施手术计划。该项目的目标是全关节置换手术，预计将对新兴的医疗机器人领域乃至更广泛的领域产生更广泛的影响。以高性能计算为粘合剂，这些组件技术的集成将导致下一代计算机辅助手术机器人的出现。

It is a joint initiative between the Engineering Directorate and the Computer Information and Engineering Directorate. This research involves a collaboration among roboticists, computer scientists, biomechanicists, and surgeons at Carnegie Mellon University and Shadyside Hospital to advance the state-of-the-art in medical robotics. Robotics and computer-based technologies present medicine with excellent opportunities to improve surgical practice. Surgical robots are particularly well suited for such medical fields as orthopaedics in which there is a clinical need for accurate execution of biomechanics-based preoperative plans. To fully realize the promise of medical robotics, advances are still needed to develop: (1) surgical simulators that incorporate the complex biomechanics of biological systems, (2) clinically practical surgical cutting and registration techniques, and (3) effective methods for preoperative and intraoperative human-computer interaction. The interdisciplinary research team will create advanced numerical simulation capabilities for orthopaedics, robotic techniques for surface-based registration and high-speed 3-D sensing, and human-computer interfaces that present biomechanical and intraoperative information in a clinically meaningful manner. These advances will complement surgeons' abilities with realistic surgical simulators and less traumatic robotic tools for implementing surgical plans. The project targets total joint replacement surgery, with the expectation of broader impact on the emerging field of medical robotics and beyond. With high performance computing serving as the glue, the integration of these component technologies will lead to the next generation of computer-assisted surgical robots.