HRI: Modeling Fundamental Interactions in Robotic, Simulated, and Real Surgery

这项拟议的研究旨在了解基本的手术交互作用，以便改进技术，使交互作用在界面上尽可能一致和直观。遥操作机器人系统和虚拟环境模拟可以使学习和进行手术变得更容易。然而，在目前的技术下，机器人手术感觉上不同于开放手术，开放手术与微创手术有很大的不同，模拟手术往往无法像这些手术中的任何一个那样逼真。微创技术最困难的两个方面是有限的触觉反馈和在器械的运动学约束下灵活工作。外科手术中最耗时的部分通常是解剖，这会受到糟糕的触觉的阻碍，而缝合修复则会因为灵活性有限而变得具有挑战性。这两项技能将在平行冲刺中学习。在每一次推力中，技术都将从实验数据中建模。这些模型将在模拟和机器人试验台上进行测试，然后用于优化远程手术系统和虚拟培训环境的设计。这项研究预计将对微创手术的技术和教学产生重大影响，允许更广泛地使用有益技术，同时改善医疗结果和减少错误。

The proposed research aims to understand fundamental surgical interactions so that technologies can be improved to make the interactions as consistent and intuitive as possible across interfaces. Teleoperative robotic systems and virtual environment simulations can make it easier to learn and perform surgery. With current technology, however, robotic surgery feels different from open surgery, which is quite different from minimally invasive surgery, and simulated procedures often fail to behave realistically like any of these.Two of the most difficult aspects of minimally invasive techniques are limited haptic feedback and working dexterously under the kinematic constraints of the instruments. The most time-consuming portions of surgical procedures are typically dissection, which is hampered by poor haptics, and repair by suturing, which is made challenging by limited dexterity. These two skills will be studied in parallel thrusts. In each thrust, the skill will be modeled from experimental data. The models will be tested in simulation and robotic testbeds, then used to optimize the design of teleoperative surgical systems and virtual training environments.This research is expected to have significant impact on the technology and teaching of minimally invasive surgery, allowing wider usage of beneficial techniques while improving medical outcomes and reducing errors.