NRI: Toward Safe and Reliable Robotic Eye Examinations

NRI：迈向安全可靠的机器人眼科检查

• 批准号: 10671768
• 负责人: Kris Hauser
• 金额: $ 39.67万
• 依托单位: UNIVERSITY OF ILLINOIS AT URBANA-CHAMPAIGN
• 依托单位国家: 美国
• 财政年份: 2023
• 资助国家: 美国
• 起止时间: 2023-05-01 至 2026-04-30
• 项目状态: 未结题
• 来源: https://reporter.nih.gov/project-details/10671768
• 关键词: Acute; Address; Age related macular degeneration; Algorithms; Anterior; Appearance; Applied Research; Automation; Basic Science; COVID-19 pandemic; Caring; Chronic; Clinical; Clinical Research; Collaborations; Communication; Cornea; Data Collection; Decision Making; Dedications; Development; Diagnosis; Disease Surveillance; Elderly; Epidemic; Equipment; Evaluation; Eye; Eye Movements; Eye diseases; Eyeglasses; Forehead; Glaucoma; Head; Head Movements; Health; Health Personnel; Healthcare; Human; Human Resources; Image; Image Analysis; Improve Access; Maintenance; Manuals; Measurement; Mechanics; Medical; Modality; Monitor; Motion; Motivation; Movement; Optical Coherence Tomography; Outcome; Patients; Perception; Phase; Physicians; Play; Positioning Attribute; Preventive care; Preventive medical care; Procedures; Provider; Research; Retina; Risk; Robot; Robotics; Role; Safety; Scanning; Schedule; Structure; System; Systems Integration; Tail; Time; Touch sensation; Training; Triage; Work; aging in place; biomedical imaging; care costs; care seeking; checkup examination; data quality; design; disease transmission; efficacy evaluation; ethnic disparity; eye center; falls; gender difference; health assessment; human subject; image processing; improved; infection risk; instrument; instrumentation; lens; medical examination; men; novel; operation; ophthalmic examination; pressure; racial disparity; remote health care; resilience; retinal imaging; robot assistance; robot control; robotic system; routine care; rural healthcare; safety study; sensor; standard of care; three-dimensional visualization; transmission process

This project proposes to enable a complete system for robotic optometric I ophthalmic examination of freestanding patients, including automated cornea , lens, and retinal imaging as well as eyeglass prescription measurement. Robot-aided medical exams have the potential to improve access to preventative medical care, improve health outcomes, reduce costs of care, and reduce disease transmission risk, but they pose safety concerns due to the extremely close proximity of humans and machinery. Moreover, patient interactions are extremely varied , so automating data collection in the "long tail" of anomalous situations requires robust and adaptive perception and decision-making. To address these safety and reliability concerns , this three-year project will integrate basic research in real-time human motion sensing and robot motion planning with applied research in ophthamology and biomedical imaging. This research will be conducted along three aims. Aim 1 will build the robot-mounted sensing instrument by augmenting the proposers' existing work in robotically-aligned optical coherence tomography imaging with additional modalities. Aim 2 will address safety by leveraging recent technical advances in sensors, real-time human tracking , human motion prediction , and robot motion planning to implement active safety systems that eliminate robot-initiated collisions and minimize human-initiated ones. Aim 3 will address evaluation and refinement of safety and reliability using large-scale studies on head / eye phantoms and smaller-scale studies on human subjects.

该项目旨在建立一个完整的系统，用于机器人验光 I 眼科检查 独立患者，包括自动角膜、晶状体、视网膜成像以及眼镜 处方测量。机器人辅助医疗检查有可能改善获得医疗服务的机会 预防性医疗保健、改善健康结果、降低护理成本并减少疾病 传播风险，但由于人与人之间的距离极其接近，它们会带来安全问题 机械。此外，患者的互动极其多样化，因此自动化数据收集 异常情况的“长尾”需要稳健且适应性强的感知和决策。 为了解决这些安全性和可靠性问题，这个为期三年的项目将整合基础研究 实时人体运动传感和机器人运动规划以及眼科学和应用研究 生物医学成像。这项研究将围绕三个目标进行。目标 1 将通过增强提议者在机器人对准光学方面的现有工作来构建机器人安装的传感仪器 具有附加模式的相干断层扫描成像。目标 2 将通过利用 传感器、实时人体跟踪、人体运动预测和机器人方面的最新技术进展 运动规划以实施主动安全系统，消除机器人发起的碰撞并最大限度地减少 人类发起的。目标 3 将通过对头部/眼睛模型的大规模研究和对人体受试者的小规模研究来评估和完善安全性和可靠性。