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学员在复杂的紧急医疗程序中实现专家般表现的能力。该系统将由可穿戴传感器、触觉执行器和一个机器人设备组成，以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，将受训者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）优化从专家到新手受训者的适当工具操作技术的触觉指导线索;（3）通过人类用户研究评估协作培训系统的有效性。该项目将促进科学的进步，并通过加速医疗保健环境中协作机器人系统的开发和使用来促进国民健康，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使用的远程环境中训练救生技能的系统来加强国防。该项目还支持教育，并通过支持选修课程，促进生物医学创新和医疗保健技术的发展，并通过专注于医疗模拟和教育的研讨会，扩大了工程的参与。该项目的目标是开发一个可定制的触觉合作机器人，使远程专家外科医生能够指导远程受训者实现专家-比如在复杂的紧急医疗任务中的表现，这些任务关键取决于触觉。该项目有三个目标。 第一个开发的硬件和软件的方法，实时学员运动学和动力学性能数据转化为直观的触觉提示的导师。第二个开发类似的触觉提示的基础上，从专家正确的工具使用运动学和动力学的指导。 第三个使用人类用户的研究，以评估协作训练机器人的能力，以提高学习和保留三个术中手术技能（针插入，胸管放置，并保留）。如果成功，该项目将为更有效和无处不在的复杂手动技能的合作机器人培训奠定基础。该奖项反映了NSF的法定使命，并通过使用基金会的智力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.