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

NRI：FND：用于培训紧急手术程序的可定制触觉协作机器人

基本信息

批准号：
2102250
负责人：
Ann Majewicz Fey
金额：
$ 74.99万
依托单位：
University of Texas at Austin
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2020
资助国家：
美国
起止时间：
2020-10-01 至 2024-11-30
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=2102250&HistoricalAwards=false
关键词：
NRI FND Customizable Haptic Co

项目摘要

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.

该国家机器人计划（NRI 2.0）项目将开发一个协作机器人（共同机器人）系统，该系统将增强专家医生在复杂的紧急医疗程序中实现类似专家的绩效的专家教练的能力。该系统将由可穿戴的传感器，触觉执行器和机器人设备组成，该机器人设备可以促进导师和受训者之间的双向身体合作。该项目的三个目的是：（1）开发方法将受训者运动学和动力学信息转化为对专家导师的有意义的反馈；（2）优化有关从专家到新手实习生的适当工具操纵技术的触觉指导提示；（3）通过人类研究来评估协作培训系统的有效性。该项目将通过在医疗保健环境中加速和使用协作机器人系统的开发和使用来促进科学的进步，并提高国家卫生的发展，该项目的电信方面也可以通过开发可以在偏远的专家外科医生中培训生命的能力的系统来增强国防。 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.该项目有三个目标。第一个开发了硬件和软件方法，以将实时学员的运动学和动力学性能数据转换为导师的直观触觉提示。第二个基于专家的指导，为适当的工具使用运动学和动力学开发了学员的类似触觉提示。第三种使用人类用户研究来评估协作培训机器人的能力，以增强三种术中手术技能的学习和保留（针插入，胸管放置和缝合）。如果成功的话，该项目将为更有效和普遍存在的复杂手动技能的共同创新培训奠定基础。该奖项反映了NSF的法定任务，并被认为是值得通过基金会的知识分子优点和更广泛的影响评估的评估来支持的。

项目成果

期刊论文数量（7）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

cHand: Visualizing Hands in CHAI3D

cHand：在 CHAI3D 中可视化手部

DOI：
10.1109/whc49131.2021.9517190
发表时间：
2021
期刊：
IEEE World Haptics Conference
影响因子：
0
作者：
Battaglia, Edoardo;Fey, Ann Majewicz
通讯作者：
Fey, Ann Majewicz

Evaluation of Pre-Training with the da Vinci Skills Simulator on Motor Skill Acquisition in a Surgical Robotics Curriculum

使用达芬奇技能模拟器对手术机器人课程中运动技能习得的预训练进行评估

DOI：
10.1142/s2424905x21500069
发表时间：
2021
期刊：
Journal of Medical Robotics Research
影响因子：
0
作者：
Battaglia, Edoardo;Mueller, Bradly;Hogg, Deborah;Rege, Robert;Scott, Daniel;Fey, Ann Majewicz
通讯作者：
Fey, Ann Majewicz

Cartesian Space Vibrotactile Cues Outperform Tool Space Cues when Moving from 2D to 3D Needle Insertion Task

从 2D 移动到 3D 针插入任务时，笛卡尔空间振动触觉提示优于工具空间提示

DOI：
10.1109/biorob52689.2022.9925272
发表时间：
2022
期刊：
BioRob
影响因子：
0
作者：
Battaglia, Edoardo;Fey, Ann Majewicz
通讯作者：
Fey, Ann Majewicz

cHand: Open Source Hand Posture Visualization in CHAI3D

cHand：CHAI3D 中的开源手部姿势可视化

DOI：
10.1109/ismr57123.2023.10130196
发表时间：
2023
期刊：
IEEE
影响因子：
0
作者：
Battaglia, Edoardo;Fey, Ann Majewicz
通讯作者：
Fey, Ann Majewicz

Towards Telementoring for Needle Insertion: Effects of Haptic and Visual Feedback on Mentor Perception of Trainee Forces

走向针插入的远程指导：触觉和视觉反馈对导师对受训者力量感知的影响

DOI：
10.1109/haptics52432.2022.9765597
发表时间：
2022
期刊：
IEEE Haptics Symposium
影响因子：
0
作者：
Reyes, Lourdes R.;Gavino, Phillip;Zheng, Yi;Boehm, Jacob;Yeatman, Mark;Hegde, Shruti;Park, Caroline;Battaglia, Edoardo;Fey, Ann Majewicz
通讯作者：
Fey, Ann Majewicz