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

这项工作将通过建立一种称为互补态势感知（CSA）的新概念来推进人机伙伴关系，这是对环境和任务执行的操作约束的同时感知和利用。拟议中的CSA具有变革性，因为它开创了人类与机器人合作的新时代，机器人不仅在操纵方面，而且在感知和控制方面都是我们的合作伙伴。这项研究将为CSA建立多方面的人机合作关系奠定基础。主要有三个研究目标：1)任务执行过程中的实时传感：设计低级控制算法，通过支持柔性非结构化环境中的力传感、探索和调制力交互，为线驱动或柔性连续体机器人提供感官意识；2)态势感知建模：制定适合手术计划和体内手术计划适应的信息融合和同步定位与映射（SLAM）算法；3)基于CSA的远程操作：设计、构建机器人试验台，并将其与基于SLAM和探索数据的远程操作算法集成在一起，实现辅助远程操作虚拟夹具的在线适配。本研究还包括调查以前未解决的问题，即如何使用感官探索和触诊数据来实现基于力和刚度数据的辅助虚拟固定装置的在线适应，同时也考虑到术前数据和术中校正配准参数。建议的工作将恢复态势感知随时可用的开放手术到微创手术。这将使患者受益的核心技术，有效和安全的自然口手术或单端口进入手术。这两种手术模式的社会影响是减少了患者的疼痛，缩短了住院时间，改善了美容和患者的自我形象，降低了成本。我们还认为，CSA将影响制造业，未来将需要人类和机器人在共享空间中协同工作。此外，CSA的相同概念适用于受限和非结构化环境中的远程操作，并且拟议的研究与空间探索中的机器人-人伙伴关系直接相关。为了确保实现这一更广泛的影响，已经组建了一个咨询委员会，由医药、制造业和航空航天领域的专家组成。最后，通过在线提供我们的软件和硬件设计，以及在多个机构使用商业级硬件，pi将促进医疗机器人研究界的合作。

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.