NRI: Large: Collaborative Research: Complementary Situational Awareness for Human-Robot Partnerships

这项工作将通过建立一个名为互补态势感知（CSA）的新概念来推进人类与机器人的伙伴关系，CSA是同时感知和使用环境和任务执行的操作限制。拟议的CSA具有变革性，因为它开创了人机合作伙伴关系的新时代，机器人不仅在操纵方面，而且在感知和控制方面都充当我们的合作伙伴。这项研究将为CSA奠定基础，以实现多方面的人机合作伙伴关系。三个主要的研究目标指导这项工作：1）任务执行期间的实时感知：设计低级控制算法，通过支持柔性非结构化环境中的力感测，探索和调制力交互，为线驱动或柔性连续体机器人提供感知意识; 2）情境感知建模：规定适用于手术计划和体内手术计划适应的信息融合和同步定位与标测（SLAM）算法; 3）基于CSA的远程操纵：设计，构建和集成机器人测试台与远程操作算法，使用SLAM和探索数据在线适应辅助远程操作虚拟夹具。这项研究还包括调查以前未解决的问题，如何感觉探索和触诊数据可以用来使在线适应的辅助虚拟夹具的基础上的力量和刚度的数据，同时也考虑到术前数据和术中校正的注册parameters.The拟议的工作将恢复态势感知开放手术中容易获得微创手术。这将使患者受益，使核心技术能够实现有效和安全的自然腔道手术或单孔手术。对这两种手术模式的拟议工作的社会影响是减少患者的疼痛，缩短住院时间，改善美容和患者的自我形象，并降低成本。我们还相信，CSA将影响制造业，其未来将需要人和机器人在共享空间中共同完成协作任务。此外，CSA的相同概念也适用于受限和非结构化环境中的远程操纵，拟议的研究与空间探索的机器人-人类伙伴关系直接相关。为了确保实现这一更广泛的影响，一个由来自医学、制造业和航空航天领域的专家组成的咨询委员会已经成立。最后，PI将通过在线提供我们的软件和硬件设计并使用多个机构提供的商业级硬件来促进医疗机器人研究社区的合作。

This work will advance human-robot partnerships by establishing a new concept called complementary situational awareness (CSA), which is the simultaneous perception and use of the environment and operational constraints for task execution. The proposed CSA is transformative because it ushers in a new era of human-robot partnerships where robots act as our partners, not only in manipulation, but in perception and control. This research will establish the foundations for CSA to enable multifaceted human-robot partnerships. Three main research objectives guide this effort: 1) Real-time Sensing during Task Execution: design low-level control algorithms providing wire-actuated or flexible continuum robots with sensory awareness by supporting force sensing, exploration, and modulated force interaction in flexible unstructured environments; 2) Situational Awareness Modeling: prescribe information fusion and simultaneous localization and mapping (SLAM) algorithms suitable for surgical planning and in-vivo surgical plan adaptation; 3) Telemanipulation based on CSA: Design, construct, and integrate robotic testbeds with telemanipulation algorithms that use SLAM and exploration data for online adaptation of assistive telemanipulation virtual fixtures. This research also includes investigation of previously unaddressed questions on how sensory exploration and palpation data can be used to enable online-adaptation of assistive virtual fixtures based on force and stiffness data while also taking into account preoperative data and intraoperative correction of registration parameters.The proposed work will restore the situational awareness readily available in open surgery to minimally invasive surgery. This will benefit patients by enabling core technologies for effective and safe natural orifice surgery or single port access surgery. The societal impact of the proposed work on these two surgical paradigms is reduced pain for patients, shorter hospital stay, improved cosmesis and patients' self image, and lower costs. We also believe that CSA will impact manufacturing where its future will require people and robots working together in a shared space on collaborative tasks. Also, the same concepts of CSA apply to telemanipulation in constrained and unstructured environments and the proposed research has direct relevance to robot-human partnerships for space exploration. To ensure this broader impact will be achieved, an advisory board has been assembled with experts from medicine, manufacturing and aerospace. Finally, the PIs will facilitate collaboration in the medical robotics research community by making our software and hardware designs available on-line and using commercial-grade hardware available at multiple institutions.