EFRI C3 SoRo: Safe Medical Continuum Robots: Sensing, Control and Fabrication

EFRI C3 SoRo：安全医疗连续体机器人：传感、控制和制造

• 批准号: 1935329
• 负责人: Michael Yip
• 金额: $ 200万
• 依托单位: University of California-San Diego
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2019
• 资助国家: 美国
• 起止时间: 2019-09-15 至 2023-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1935329&HistoricalAwards=false
• 关键词: EFRI; C3; SoRo; Safe; Medical

This project will advance fundamental knowledge for modeling, control, and sensing of soft-backboned continuum robots for surgical applications. The snake-like or tentacle-like versatility of these robots provides enhanced dexterity. Their compliant nature makes them especially well-suited for medical interventions, because they safely conform to the geometry of the body rather than damaging surrounding tissue. The modeling and control approach is innovative because it treats the robot and surrounding tissue as an interconnected system, and applies mathematical techniques developed for deformable structures that may take an infinite number of possible shapes. Inevitable uncertainties about the geometry and mechanical properties of biological tissue are rigorously addressed using probabilistic on-line, model-free learning. Movement of the robot inside the body is monitored using a linear array of millimeter-scale passive radio antennas, similar to the RFID tags found in retail stores. Different versions of these sensors will be explored, variously capable of locating contact points, measuring interface forces, and estimating the shape of the robot. The project also presents a framework for development and validation of surgical robots, including a new systematic classification of surgical tasks from a robotic perspective. This interdisciplinary effort combines control theory, wireless communication, human-centered design, and medicine to address a critical need for consistent high-quality and accessible healthcare in the US. Project activities will help broaden the participation of underrepresented groups in research and positively impact engineering education with hands-on engineering demonstrations, practices, and lessons.The project vision is a coordinated design of continuum robots, sensors, environment testbeds, and validation metrics for medical applications with their complex tissue environments. The research team will (i) design scalable and online model-based and model-free adaptive control approaches that consider the robot-and-tissue environment as a tightly coupled, identifiable, and controllable system, (ii) develop wireless sensing technology for continuum robot tracking, shape sensing, force estimation, and communication channels that meet the constraints of medical continuum robots and environments, and (iii) build a comprehensive set of canonical medical robot and environment validation platforms, and a set of relevant metrics for quantitative comparisons of future medical continuum robot technologies. These contributions offer a generalized approach for robust implementation of medical continuum robots in new tissue environments. It has broad applicability across different robot hardware and clinical tasks.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

该项目将推进用于外科手术应用的软脊连续体机器人的建模、控制和传感的基础知识。这些机器人像蛇或触手一样的多功能性增强了灵活性。它们的顺应性使它们特别适合医疗干预，因为它们安全地符合身体的几何形状，而不是损坏周围的组织。建模和控制方法具有创新性，因为它将机器人和周围组织视为一个互连的系统，并应用了为可变形结构开发的数学技术，这些可变形结构可能具有无限多种可能的形状。使用概率在线、无模型学习来严格解决生物组织几何形状和机械性能不可避免的不确定性。使用毫米级无源无线电天线线性阵列监控机器人在体内的运动，类似于零售店中的 RFID 标签。我们将探索这些传感器的不同版本，它们能够定位接触点、测量界面力并估计机器人的形状。该项目还提出了手术机器人的开发和验证框架，包括从机器人角度对手术任务进行新的系统分类。这项跨学科的工作结合了控制理论、无线通信、以人为本的设计和医学，以满足美国对始终如一的高质量和可及的医疗保健的迫切需求。项目活动将有助于扩大代表性不足的群体对研究的参与，并通过动手工程演示、实践和课程对工程教育产生积极影响。该项目的愿景是协调设计连续体机器人、传感器、环境测试台以及医疗应用及其复杂组织环境的验证指标。研究团队将（i）设计可扩展的在线基于模型和无模型的自适应控制方法，将机器人和组织环境视为紧密耦合、可识别和可控的系统，（ii）开发用于满足医疗连续体机器人和环境约束的连续体机器人跟踪、形状感知、力估计和通信通道的无线传感技术，以及（iii）构建一套全面的规范医疗机器人和环境 验证平台，以及一组用于定量比较未来医疗连续体机器人技术的相关指标。这些贡献为在新的组织环境中稳健地实施医疗连续体机器人提供了通用方法。它在不同的机器人硬件和临床任务中具有广泛的适用性。该奖项反映了 NSF 的法定使命，并通过使用基金会的智力优点和更广泛的影响审查标准进行评估，被认为值得支持。

项目成果

Design and Evaluation of a Miniaturized Force Sensor Based on Wave Backscattering

基于波后向散射的小型化力传感器的设计与评估

• DOI: 10.1109/lra.2022.3184767
• 发表时间: 2022
• 期刊: IEEE Robotics and Automation Letters
• 影响因子: 5.2
• 作者: Park, Daegue;Gupta, Agrim;Bashar, Shayaun;Girerd, Cedric;Bharadia, Dinesh;Morimoto, Tania. K.
• 通讯作者: Morimoto, Tania. K.

Tactile Perception for Growing Robots via Discrete Curvature Measurements

通过离散曲率测量实现生长机器人的触觉感知

• DOI: 10.1109/iros47612.2022.9981273
• 发表时间: 2022
• 期刊: IEEE
• 作者: Bryant, Micah;Watson, Connor;Morimoto, Tania K.
• 通讯作者: Morimoto, Tania K.

Towards a Wireless Force Sensor Based on Wave Backscattering for Medical Applications

• DOI: 10.1109/jsen.2021.3049225
• 发表时间: 2021-04-01
• 期刊: IEEE SENSORS JOURNAL
• 影响因子: 4.3
• 作者: Girerd, Cedric;Zhang, Qiming;Morimoto, Tania K.
• 通讯作者: Morimoto, Tania K.

Prescribed-Time Extremum Seeking with Chirpy Probing for PDEs—Part I: Delay

使用偏微分方程的啁啾探测进行规定时间极值搜索——第 I 部分：延迟

• DOI: 10.23919/acc53348.2022.9867881
• 发表时间: 2022
• 期刊: IEEE
• 作者: Yilmaz, Cemal Tugrul;Krstic, Miroslav
• 通讯作者: Krstic, Miroslav

Extremum Seeking Feedback With Wave Partial Differential Equation Compensation

• DOI: 10.1115/1.4048586
• 发表时间: 2021-04
• 期刊: Journal of Dynamic Systems Measurement and Control-transactions of The Asme
• 影响因子: 1.7
• 作者: T. R. Oliveira;M. Krstić