NRI: FND: Customizable Haptic Co-Robots For Training Emergency Surgical Procedures

这个国家机器人计划（NRI 2.0）项目将开发一个协作机器人（co-robot）系统，该系统将提高专家医生指导受训人员的能力，使其在复杂的紧急医疗程序中达到专家般的表现。该系统将由可穿戴传感器、触觉致动器和一个机器人设备组成，该设备可促进导师和学员之间的双向物理协作。该项目的三个目标是：(1)开发方法，将学员的运动学和动力学信息转化为有意义的反馈给专家导师；(2)优化从专家到新手的正确刀具操作技巧的触觉指导线索；(3)通过人-用户研究评估协同训练系统的有效性。该项目将通过加快协作机器人系统在医疗环境中的开发和使用，促进科学进步和国民健康。该项目的远程指导方面还可以通过开发可以在专家外科医生可能无法获得的远程环境中培训救生技能的系统来增强国防。该项目还通过支持促进生物医学创新和医疗保健技术开发的选修课程，以及通过以医学模拟和教育为重点的讲习班，支持教育和扩大工程学的参与。该项目的目标是开发一种可定制的触觉协作机器人，使远程专家外科医生能够指导远程受训者在严重依赖触觉的复杂紧急医疗任务中取得专家般的表现。该项目有三个目标。第一项研究开发了硬件和软件方法，将学员的实时运动学和动力学表现数据转换为导师的直观触觉线索。第二种方法是根据专家关于正确使用工具的运动学和动力学的指导，为受训者开发类似的触觉线索。第三项研究使用人类-用户研究来评估协同训练机器人的能力，以增强术中三种手术技能（插针、置胸管和缝合）的学习和保留能力。如果成功，该项目将为更有效和普遍的复杂手工技能的协同机器人培训奠定基础。该奖项反映了美国国家科学基金会的法定使命，并通过使用基金会的知识价值和更广泛的影响审查标准进行评估，被认为值得支持。

This National Robotics Initiative (NRI 2.0) project will develop a collaborative robot (co-robot) system that will enhance the ability of expert physicians to coach trainees to achieve expert-like performance in complex emergency medical procedures. The system will consist of wearable sensors, tactile actuators, and a robotic device that promotes two-way physical collaboration between the mentor and trainee. The project's three aims are: (1) to develop methods to transform trainee kinematic and kinetic information into meaningful feedback to the expert mentor; (2) to optimize haptic guidance cues about proper tool manipulation technique from the expert to the novice trainee; and (3) to assess the effectiveness of the collaborative training system through human-user studies. The project will promote the progress of science and advance the national health by accelerating the development and use of collaborative robotic systems in healthcare settings, The tele-mentoring aspect of this project may also enhance the national defense by developing systems that can train life-saving skills in remote environments where expert surgeons may not be available. The project also supports education and broadens participation in engineering through support for elective courses promoting biomedical innovation and healthcare technology development and through workshops focused on medical simulation and education.The goal of this project is to develop a customizable haptic co-robot that enables a remote expert surgeon to coach a remote trainee to achieve expert-like performance in complex emergency medical tasks that depend critically on the sense of touch. The project has three aims. The first develops hardware and software methods to transform real-time trainee kinematic and kinetic performance data into intuitive haptic cues for the mentor. The second develops analogous haptic cues for the trainee based on guidance from the expert about proper tool use kinematics and kinetics. The third uses human-user studies to assess the collaborative training robot ability to enhance the learning and retention of three intraoperative surgical skills (needle insertion, chest tube placement, and suturing). If successful, this project will lay the groundwork for more effective and ubiquitous co-robotic training of complex manual skills.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.