CRII: CPS: Intuitive Human-in-the-Loop Control for Medical Cyber-Physical Systems

CRII：CPS：医疗网络物理系统的直观人机循环控制

• 批准号: 1464432
• 负责人: Ann Majewicz Fey
• 金额: $ 17.47万
• 依托单位: University of Texas at Dallas
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2015
• 资助国家: 美国
• 起止时间: 2015-05-15 至 2018-04-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1464432&HistoricalAwards=false
• 关键词: CRII; CPS; Intuitive; Human; Loop

Human-in-the-loop control strategies in which the user performs a task better, and feels more confident to do so, is an important area of research for cyber-physical systems. Humans are very adept at learning to control complex systems, particularly those with non-intuitive kinematic constraints (e.g., cars, bicycles, wheelchairs, steerable needles). With the advent of cyber-physical systems, (physical systems integrated with cyber control layer), human control is no longer constrained to system inputs. Users can also control system outputs through a number of different teleoperation mappings. Given all this flexibility, what is the most intuitive way for a human user to control an arbitrary system and how is intuitiveness quantified?The project focuses on human-in-the-loop control for medical needles, which steer with bicycle-like kinematics. These needles could be used in a variety of medical interventions including tissue biopsy, tumor ablation, abscess drainage, and local drug delivery. We have explored a variety of teleoperation mappings for human control of these steerable needles; yet, we have found inconsistencies between objective performance metrics (e.g., task time and error), and post-experimental surveys on comfort or ease-of use. Users occasionally report a preference for control mappings, which objectively degrade performance, and vice versa. It is important to measure the real-time engagement of the user with the physical system in order to capture the nuances of how different control mappings affect physical effort, mental workload, distraction, drowsiness, and emotional response. Physiological sensors such as electroencephalography (EEG), galvanic skin response (GSR), and electromyography (EMG), can be used to provide these real-time measurements and to quantitatively classify the intuitiveness of new teleoperation algorithms.Broader Impacts: Intuitive and natural human-in-the-loop control interfaces will improve human health and well being, through applications in surgery and rehabilitation. The results of this study will be disseminated publicly on the investigator's laboratory website, a conference workshop, and a new medical robotics seminar to be held jointly between UT Dallas and UT Southwestern Medical Center. Outreach activities, lab tours, and mentoring of underrepresented students at all levels, will broaden participation in STEM. Additionally, the proximity of the investigator?s hospital-based lab to medical professionals will engage non-engineers in design and innovation

人在回路控制策略，其中用户更好地执行任务，并且感觉更有信心这样做，是信息物理系统研究的一个重要领域。人类非常善于学习控制复杂系统，特别是那些具有非直观运动学约束的系统（例如，汽车、自行车、轮椅、可转向针）。随着网络物理系统（物理系统与网络控制层集成）的出现，人类控制不再局限于系统输入。用户还可以通过许多不同的遥操作映射来控制系统输出。考虑到所有这些灵活性，人类用户控制任意系统的最直观方式是什么？直观性如何量化？该项目的重点是医疗针的人在回路控制，其转向与自行车一样的运动学。这些针可用于各种医疗干预，包括组织活检、肿瘤消融、脓肿引流和局部药物输送。我们已经探索了用于人类控制这些可操纵针的各种远程操作映射;然而，我们发现客观性能指标（例如，任务时间和错误），以及关于舒适度或易用性的实验后调查。用户偶尔会报告对控件映射的偏好，这会客观地降低性能，反之亦然。重要的是要测量用户与物理系统的实时参与，以捕捉不同的控制映射如何影响体力，精神工作量，分心，困倦和情绪反应的细微差别。生理传感器，如脑电图（EEG）、皮肤电反应（GSR）和肌电图（EMG），可用于提供这些实时测量，并对新的遥操作算法的直观性进行定量分类。更广泛的影响：直观和自然的人在回路控制界面将通过手术和康复应用改善人类健康和福祉。这项研究的结果将在研究者的实验室网站上公开传播，会议研讨会和UT达拉斯和UT西南医学中心联合举行的新的医疗机器人研讨会。外展活动、实验室参观和对各级代表性不足的学生的指导将扩大STEM的参与范围。图尔斯。此外，调查人员的接近程度？的医院为基础的实验室，医疗专业人员将从事非工程师的设计和创新