CPS: Medium: Safety-Oriented Hybrid Verification for Medical Robotics

本研究的目的是开发设计，实施和验证医疗机器人的方法和工具。 该方法是捕捉计算机，物理和生物组件的系统的计算工作流，以验证工作流，并从工作流模型合成系统。 本研究的重点应用是MRI引导下的高频超声肿瘤消融。 MRI引导的超声肿瘤消融术提出的挑战超出了当前验证技术的范围。 医学充满了高度非线性的生物系统，这使它们处于数学上严格的正确性检查和验证的前沿。 例如，在这项研究中，保证接受治疗的癌症患者的安全将需要验证Pennes生物热方程，这是一个包含数十个环境因素的非线性微分方程。 这项研究解决了这种复杂性，使用抽象层来有效，准确和安全地近似系统中每个组件的行为。 为了确保控制器的忠实实现，本研究将研究直接从验证模型合成控制代码，以正确的方式通过构造。 该项目将帮助开发最合适的正式方法系列，以应对医疗机器人领域的安全性和正确性挑战。 它直接解决CPS议程的方法和工具，提出正式的技术，桥梁之间的差距差距的网络和物理元素。 它将通过新的研讨会、讲习班和课程培训跨学科领域的人力。最后但同样重要的是，该项目将对社会福祉产生直接的人道主义影响。

The objective of this research is to develop methods and tools for designing, implementing and verifying medical robotics. The approach is to capture the computational work-flow of systems with cyber, physical and biological components, to verify that work-flow and to synthesize systems from the work-flow model. The focusing application of this research is MRI-guided, high-frequency ultrasonic tumor ablation. MRI-guided ultrasonic tumor ablation poses challenges beyond the scope of current verification techniques. Medicine is filled with highly non-linear biological systems, which puts them at the frontier of mathematically rigorous correctness checking and verification. For instance, in this research, guaranteeing the safety of a cancer patient undergoing treatment will require verifying against Pennes bioheat equation, a non-linear differential equation with dozens of environmental factors. This research tackles such complexity using tiers of abstractions to efficiently, precisely and safely approximate the behavior of each component of a system. To ensure a faithful implementation of controllers, this research will investigate synthesizing the control code directly from the verified model in a correct by construction manner. The project will help develop the most appropriate family of formal methods for handling the safety and correctness challenges in the area of medical robotics. It directly addresses the CPS agenda of methods and tools by proposing formal techniques that bridge the gap between the cyber and physical elements. It will train manpower in cross-disciplinary areas through new seminars, workshops and courses. And, last but not least, the project will make a direct humanitarian impact on the well-being of society.