Perceptual Docking for Robotic Control (Equipment Rich Proposal)

保护人类免受直接暴露于危险或安全关键环境的追求一直是机器人技术发展背后的驱动力。虽然机器人技术和其他相关技术不断发展，但地球仪的研究人员正在将注意力转向可能是所有/人体中最具挑战性的安全关键环境。在人体周围和人体内部署机器人，特别是用于机器人手术，会出现许多独特且具有挑战性的问题，这些问题来自于复杂且通常不可预测的人体解剖环境。基于主从的机器人，如达芬奇系统，它体现了训练有素的最小访问外科医生通过运动缩放和补偿的运动，正在获得临床意义。具有基于MEMS技术的传感器和致动器的微机械也迅速出现。在机器人技术中自主和机械手技术的二分法下，机器人的智能通常通过高级抽象和环境建模预先获得。然而，对于涉及复杂解剖结构和大的组织变形的手术，已知这会产生重大困难。施加在介入手术机器人上的监管、道德和法律的障碍也导致在追求自主性时需要操作者和机器人之间的紧密集成控制。本计画的目的是研究一种新概念的知觉对接机器人控制。对接这个词与移动的机器人中使用的传统术语的含义不同。它代表了机器人系统的感知学习和知识获取的基本范式转变，因为操作员特定的电机和感知/认知行为通过凝视偶然框架就地同化。我们假设扫视眼球运动和眼球聚散可以用于MIS手术期间的注意力选择和恢复软组织的3D运动和变形。预计该方法还将为有效的人机交互开辟一系列全新的机会。该提案寻求设备和研究资金，用于在帝国理工学院建立一个综合核心实验设施，以调查与机器人感知对接相关的关键挑战，以及与人机交互，视觉感知和机器学习，人体工程学，运动学和驱动设计，术中图像引导，运动和生物力学建模，组织-仪器交互和机器人控制相关的相关研究问题。来自帝国生物医学工程研究所的配套资金已经到位，该设施预计将大大提高多学科研究能力，并促进跨若干不同学科的新研究方案的互动和启动。

The quest for protecting humans from direct exposure to hazardous or safety critical environments has been the driving force behind technological developments in robotics. Whilst robotics and other related technologies continue to grow, researchers across the globe are turning their attention to what is perhaps the most challenging safety critical environment of all / the human body. Deploying robots around and within the human body, particularly for robotic surgery presents a number of unique and challenging problems that arise from the complex and often unpredictable environments that characterise the human anatomy. Master-slave based robots such as the daVinci system, which embodies the movements of trained minimal access surgeons through motion scaling and compensation, are gaining clinical significance. Micro-machines possessing sensors and actuators based on the MEMS technology are also rapidly emerging. Under the dichotomy of autonomous and manipulator technologies in robotics, intelligence of the robot is typically pre-acquired through high-level abstraction and environment modelling. For procedures that involve complex anatomy and large tissue deformation, however, this is known to create major difficulties. The regulatory, ethical and legal barriers imposed on interventional surgical robots also give rise to the need of a tightly integrated control between the operator and the robot when autonomy is being pursued. The aim of this project is to research into a new concept of perceptual docking for robotic control. The word docking is different in meaning to the conventional term used in mobile robots. It represents a fundamental paradigm shift of perceptual learning and knowledge acquisition for robotic systems in that operator specific motor and perceptual/cognitive behaviour is assimilated in situ through a gaze contingent framework. We hypothesise that saccadic eye movements and ocular vergence can be used for attention selection and recovering 3D motion and deformation of the soft tissue during MIS procedures. It is expected that the method will also open up a range of completely new opportunities for effective human-machine interaction. This proposal seeks equipment and research funding for establishing an integrated core experimental facility at Imperial College for investigating key challenges related to perceptual docking in robotics and allied research issues related to human-machine interaction, visual perception and machine learning, ergonomics, kinematics and actuation design, intra-operative image guidance, motion and biomechanical modelling, tissue-instrument interaction, and robotic control. Matching funding from the Institute of Biomedical Engineering at Imperial has already been secured, and the facility is expected to greatly enhance the multidisciplinary research capacity and facilitate the interaction and initiation of new research programmes across a number of different disciplines.