CAREER: Minimally Invasive Surgery Using Haptics and Vision

本项目的理论和实验研究工作主要集中在通过共享控制实现可变形物体的触觉交互和视觉伺服。特别是，新的触觉建模与可变形物体的相互作用将进行探索，使用覆盖的局部非线性模型的弹性动力学特性的对象;新的视觉伺服算法将制定跟踪可变形物体使用位置和图像为基础的控制技术;新的机器人控制算法将开发安全的互动与pacient的器官使用触觉和视觉。该项目的教育部分侧重于开发新课程，让学生参与课程开发，让本科生参与研究。 PI还将参与代表性不足的高中生的教育。

The theoretical and experimental research efforts in this project focus on haptics interaction and visual servoing of deformable objects through shared control. In particular, novel haptics modeling of interaction with deformable objects will be explored, using overlaying local nonlinear modeling of elasto-dynamic properties of objects; new visual servoing algorithms will be formulated for tracking deformable objects using position and image based control techniques; new robot control algorithms will be developed for safe interaction with a pacient's organs using haptics and vision. The project's education component focuses on developing new courses, involving students in course development, and involving undergraduate students in research. The PI will also participate in education of the under-represented high school students.