Control and interfaces for teleoperated robots

遥控机器人的控制和接口。******申请人的研究方向为机器人远程操作和医学成像领域。机器人辅助在许多外科手术中使用。通过这种方法，机器人安装的仪器和3D摄像机通过微创切口插入患者体内。外科医生通过显示3D摄像机视图的远程控制台上，用两个主机械臂远程操作这些仪器和摄像机。******超声是用于指导医疗干预的主要实时成像方法。超声弹性成像是一种特殊的方式，图像组织变形或刚度。弹性成像可以被认为是一种定量触诊，一种医学检查的形式。******该计划的目标是改善操作员和机器人系统之间的界面以及操作员对环境的意识。******申请者将进行医疗机器人遥操作触觉反馈的研究。这将在控制台的用户界面上增加一种仪器在手术过程中遇到的力的感觉。为了改进界面，眼睛的注视也将被跟踪，并用于推动机械臂向操作员注视的地方移动。应用范围包括机器人的所有领域，如医疗机器人、无人机或移动机器人，或由ALS等残疾人控制机器人。申请人还将研究如何通过示范训练外科医生，使用广泛和现实的数据，包括眼睛凝视和触觉。这项工作可能会彻底改变导师的教学方式。该方法适用于未来流行的网络教学。******超声弹性成像是机器人辅助手术中触觉反馈的一个有吸引力的替代方案。***作为一种更好的替代组织触诊和触觉，一种与现有医疗机器人系统兼容的术中超声工具将被用于获得手术过程中的组织变形。在手术过程中，将通过弹性成像获得定量的组织刚度图像以及血管结构，并将其纳入机器人界面。通过提出的综合触诊工具，外科医生将能够看到组织下方，以定位敏感的解剖结构和病理。******机器人和远程操作对我们生活的影响越来越大。改进人机界面是一个非常重要的领域。用户包括其他研究人员、医疗机器人公司和超声成像公司，最终的好处是医疗系统，最重要的是病人。**

Control and interfaces for teleoperated robots.******The research program of the applicant is in the areas of robot teleoperation and medical imaging.***Robot assistance is used in many surgical procedures. With this approach, robot-mounted instruments and a 3D camera are inserted into the patient through minimally invasive incisions. The surgeon teleoperates these instruments and the camera with two master robotic arms from a remote console showing the 3D camera view. ******Ultrasound is the primary real time imaging method used to guide medical interventions. Ultrasound elastography is a specific modality that images tissue deformation or stiffness. Elastography imaging can be thought of as a quantitative palpation a form of medical examination.******The objective of this program is to improve the interface between the operator and the robotic system and the operator's awareness of the environment. ******The applicant will carry out research on haptic feedback for the teleoperation of medical robots. This will add to the user interface in the console a feeling of the forces that the instruments encounter during surgery. To improve the interface, eye-gaze will also be tracked and used to push the robotic arms towards where the operator is looking. Applications include all areas of robotics, such as medical robotics, drones or mobile robots, or the control of robots by persons with disabilities such as ALS. ***The applicant will also study how to train surgeons by demonstration, using extensive and realistic data, including eye-gaze and haptics. This work could revolutionize the way mentors teach. The approach is suitable for the web-based instruction that will be prevalent in the future. ******Ultrasound elastography is an attractive alternative to haptic feedback in robot-assisted surgery.***As a better alternative to tissue palpation and haptics, an intra-operative ultrasound tool compatible with current medical robotic systems will be used to obtain tissue deformation during surgery. Quantitative tissue stiffness images, as well as vessel structure, will be obtained through elastography during surgery, and will be incorporated in the robot interfaces. Through the proposed integrated palpation tool, surgeons will be able to see underneath the tissue to localize sensitive anatomical structure and pathology. ******Robotics and teleoperation are having an increasing impact on our lives. Improving the human-robot interface is an area of significant importance. The users include other researchers, medical robotics companies and ultrasound imaging companies, with ultimate benefits accruing to the healthcare system and, most importantly, to patients. **