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

HRI：对机器人、模拟和真实手术中的基本交互进行建模

• 批准号: 0712595
• 负责人: Frank Tendick
• 金额: $ 44.68万
• 依托单位: University of California-San Francisco
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2007
• 资助国家: 美国
• 起止时间: 2007-08-15 至 2010-07-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0712595&HistoricalAwards=false
• 关键词: HRI; Modeling; Fundamental; Interactions; Robotic

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.

拟议的研究旨在了解基本的手术相互作用，以便改进技术，使界面之间的相互作用尽可能一致和直观。 远程操作机器人系统和虚拟环境模拟可以使学习和执行手术变得更容易。 然而，在目前的技术条件下，机器人手术与开放式手术的感觉不同，开放式手术与微创手术有很大的不同，模拟手术往往无法像上述任何一种手术一样逼真。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约束下灵巧地工作。 外科手术中最耗时的部分通常是解剖，这受到不良触觉的阻碍，以及通过缝合进行修复，这由于灵活性有限而具有挑战性。 这两项技能将同时进行学习。 在每次推力中，技能将根据实验数据建模。 这些模型将在模拟和机器人测试平台上进行测试，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的技术，同时改善医疗效果并减少错误。