CPS Small: Control of Surgical Robots: Network Layer to Tissue Contact

CPS Small：手术机器人的控制：网络层到组织接触

• 批准号: 0930930
• 负责人: Blake Hannaford
• 金额: $ 55万
• 依托单位: University of Washington
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2009
• 资助国家: 美国
• 起止时间: 2009-09-01 至 2012-12-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0930930&HistoricalAwards=false
• 关键词: CPS; Small; Control; Surgical; Robots

CPS Small: Control of Surgical Robots: Network Layer to Tissue ContactResearch Objectives: This proposed CPS project aims to enable intelligent telesurgery in which a surgeon, or a distributed team of surgeons, can work on tiny regions in the body with minimal access. The University of Washington will expand an existing open surgical robot testbed, and create a robust infrastructure for cyber-physical systems with which to extend traditional real-time control and teleoperation concepts by adding three new interfaces to the system: networking, intelligent robotics, and novel non-linear controllers. Intellectual Merit: This project aims to break new ground beyond teleoperation by adding advanced robotic functions. Equally robust and flexible networking, high-level interfaces, and novel controllers will be added to the existing sytsem. The resulting system will be an open architecture and a substrate upon which many cyber-physical system ideas and algorithms will be tested under realistic conditions. The platforms proven physical robustness will permit rigorous evaluation of results and the open interfaces will encourage collaboration and sharing of results. Broader Impacts: We expect the results to enable new research in multiple ways. First, the collaborators such as Johns Hopkins, U.C. Santa Cruz, and several foreign institutions will be able to remotely connect to new high level interfaces provided by this project. Second, for the first time a robust and completely open surgical telerobot will be available for research so that CPS researchers do not need to be limited to isolated toy problems but instead be able to prototype advanced surgical robotics techniques and evaluate them in realistic contexts including animal procedures.

CPS Small：外科机器人控制：网络层到组织接触研究目标：这个拟议的CPS项目旨在实现智能远程手术，其中外科医生或分散的外科医生团队可以在最小的访问范围内对身体的微小区域进行工作。华盛顿大学将扩大现有的开放式手术机器人试验台，并为网络物理系统创建一个强大的基础设施，通过在系统中添加三个新接口：网络、智能机器人和新型非线性控制器，扩展传统的实时控制和远程操作概念。智力优势：该项目旨在通过添加先进的机器人功能来突破远程操作的新领域。同样健壮和灵活的网络、高级接口和新颖的控制器将被添加到现有系统中。由此产生的系统将是一个开放的体系结构和基板，许多网络物理系统的思想和算法将在现实条件下进行测试。经过验证的物理稳健性平台将允许对结果进行严格评估，开放接口将鼓励协作和共享结果。更广泛的影响：我们希望这些结果能够以多种方式进行新的研究。首先，合作者，如约翰霍普金斯大学、加州大学圣克鲁斯分校和一些外国机构将能够远程连接到这个项目提供的新的高层接口。其次，有史以来第一次，一个强大的、完全开放的外科遥控机器人将可用于研究，因此CPS研究人员不需要局限于孤立的玩具问题，而是能够原型先进的外科机器人技术，并在现实环境中评估它们，包括动物手术。