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，将探索与可变形对象交互的新的触觉建模，使用对象的弹性动力学特性的叠加局部非线性建模；将制定新的视觉伺服算法，用于使用基于位置和图像的控制技术跟踪可变形对象；将开发新的机器人控制算法，以利用触觉和视觉与安定者的器官进行安全交互。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，并让本科生参与研究。国际学生联合会还将参与对代表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.