Dynamic Interrogation using Bimodal Sensing and Statistical Game Control

目前市场上的许多医学成像设备都是静态的，即光源和检测器的位置是固定的。如果光源和探测器的位置可以智能地改变，就可以创造出性能优越的医学成像设备。开发这样的高性能系统需要新颖的传感器和执行器协调。设计、建设和测试良性肿瘤与恶性肿瘤鉴别的动态诊断系统。该系统将通过动态调整传感器的几何形状来非侵入性地表征肿瘤。当机械臂从表面施加压力时，我们的系统将捕获病变的弹性和生理变化。针对机械臂的控制问题，提出了一种新的协同控制理论。该提案展示了科学和概念上的创新，因为它致力于开发一种新的传感系统，通过动态获得的图像提供肿瘤的触摸和颜色特性。这将在医疗机器人系统中特别有用，因为它将允许更准确的性能，更深的审问深度和更大的审问区域。动态询问系统以无创、无害（无电离辐射）的方式识别恶性肿瘤，将对筛查、诊断和活检率产生重大影响。这种医疗成像设备的一个特殊应用是减少乳房肿瘤的过度诊断，这将导致死亡率的提高和整体医疗保健成本的降低。也许，对社会的主要好处可能是该设备将准确评估农村和偏远地区妇女患乳腺癌的风险。我们将在这个项目中培养一名研究生和两名本科生研究人员，并将为工科学生开设一门新的传感系统课程。我们的原型系统将成为拓展活动的重点，通过工程开放日为高中生提供服务，通过Ayuda社区中心夏令营为K-8儿童提供服务，该夏令营为费城北部地区的低收入、非裔美国人和西班牙裔儿童提供服务。该项目的目标是：(1)开发一个动态询问系统，(2)使用Stackelberg统计博弈控制智能地协调传感器/执行器的几何形状，以及(3)集成系统并测试动态询问系统。传统的x射线源/探测器的几何形状是静态的，因此它导致二维信息。最佳地改变源和探测器的几何形状将导致更精确的三维信息。这个项目的范围是开发一种程序性的游戏控制方法，通过动态改变传感器的空间几何形状来提高性能。我们将开发一个动态探测系统，其中光源的位置和方向以及探测器的位置得到最佳控制，以表征嵌入的内含物。通过触觉成像传感器和漫射光谱学分别测量肿瘤的粘弹性和生理特性。这些双峰传感器将被机器人操纵器动态控制。对于动态传感器/致动器几何控制，将开发一种新的博弈控制策略，即Stackelberg统计博弈控制。这是一种决定成本分配的领导者-追随者类型的游戏控制策略。因此，光源和传感器的位置和方向将得到优化。这将使系统能够以更高的精度测量触觉和光谱特性。我们建议建立双峰乳腺肿瘤模型进行检测。研究人员将利用100块鸡胸确定检测恶性肿瘤的敏感性和特异性。该系统将通过一种新颖的控制理论，通过动态调整传感器/致动器的几何形状，对夹杂物进行无创表征。最后，与静态系统相比，动态传感器/执行器控制将使系统具有更高的灵敏度和特异性。该项目将通过智能控制传感器几何形状和集成多种模态来推进传感系统领域。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。

Many of the current medical imaging devices on the market are static in the sense that the source and detector positions are fixed. If the source and detector positions change intelligently, superior performance medical imaging devices could be created. Developing such a high-performance system demands novel sensor and actuator coordination. We will design, build, and test a Dynamic Interrogation System that will be able to differentiate between benign and malignant tumors. The system will non-invasively characterize tumors by dynamically adjusting the sensor geometry. Our system will capture the elasticity and physiological changes of the lesions when pressure is applied from the surface via robotic arms. A novel cooperative control theory will be developed for the robot arm control. This proposal displays both scientific and conceptual innovation as it works to develop a new sensing system that provides the touch and color properties of a tumor through dynamically obtained images. This will be especially useful in medical robotic systems because it would allow for more accurate performance, deeper interrogation depth, and larger interrogation areas. The Dynamic Interrogation System that identifies malignant tumors in a non-invasive and harmless (no ionizing radiation) manner will have a significant impact on the screening, diagnosis, and biopsy rate. One particular application for this medical imaging device is in reducing breast tumor overdiagnosis, which would lead to improved mortality rates and overall reduced health care costs. Perhaps, the main benefit to society may be that the device will accurately assess the risk of breast cancer for women in rural and remote regions. We will train one graduate student and two undergraduate researchers in this project and will also introduce a new Sensing Systems course for engineering students. Our prototype system will be the focus of outreach activities for high school students through Engineering Open Houses, and K-8 children through the Ayuda Community Center Summer Camp, which serves low-income, African-American and Hispanic children in the north Philadelphia area.This project's goals are to (1) develop a dynamic interrogation system, (2) intelligently coordinate the sensor/actuator geometry using Stackelberg Statistical Game Control, and (3) integrate the system and test the dynamic interrogation system. Conventional X-ray source/detector geometry is static, so it leads to two-dimensional information. Optimally varying the source and detector geometry will lead to more accurate three-dimensional information. The scope of this project is to develop a procedural game control method to improve the performance by dynamically changing the spatial geometry of the sensors. We will develop a Dynamic Interrogation system, where the position and orientation of the light source and the position of the detectors are optimally controlled to characterize embedded inclusions. Viscoelastic and physiologic properties of tumors will be measured by Tactile Imaging Sensor and Diffuse Optical Spectroscopy, respectively. These bimodal sensors will be dynamically controlled with the robotic manipulators. For dynamic sensor/actuator geometry control, a novel game control strategy, Stackelberg Statistical Game Control, will be developed. This is a leader-follower type of game control strategy that shapes the cost distribution. Consequently, the position and orientation of the sources and sensors will be optimized. This will allow the system to measure tactile and spectral properties with higher accuracy. We propose to develop bimodal breast tumor models for testing. Investigators will determine the sensitivity and specificity of detecting malignant tumors using one hundred chicken breasts. The system will non-invasively characterize inclusions by dynamically adjusting the sensor/actuator geometry through a novel control theory. Finally, dynamic sensor/actuator control will allow the system to have higher sensitivity and specificity compared to a static system. This project will advance the field of sensing systems by intelligently controlling sensor geometry and integrating multiple modalities.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.