Control and interfaces for teleoperated robots

遥控机器人的控制和接口

• 批准号: RGPIN-2016-04618
• 负责人: Salcudean, Septimiu
• 金额: $ 5.61万
• 依托单位: University of British Columbia
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2020
• 资助国家: 加拿大
• 起止时间: 2020-01-01 至 2021-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=709354
• 关键词: Control; interfaces; teleoperated; robots

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.

遥控机器人的控制与接口。 申请人的研究计划是在机器人遥操作和医学成像领域。 机器人辅助用于许多外科手术。通过这种方法，机器人安装的仪器和3D相机通过微创切口插入患者体内。外科医生通过远程控制台的两个主机械臂远程操作这些器械和摄像机，显示3D摄像机视图。 超声是用于指导医疗干预的主要真实的成像方法。超声弹性成像是对组织变形或硬度进行成像的特定模态。弹性成像可以被认为是一种定量的触诊，一种医学检查的形式。 该计划的目的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认识。 申请人将开展用于医疗机器人遥操作的触觉反馈研究。这将为控制台中的用户界面增加手术期间器械遇到的力的感觉。为了改善界面，眼睛注视也将被跟踪，并用于将机器人手臂推向操作员正在看的地方。应用包括机器人技术的所有领域，如医疗机器人、无人机或移动的机器人，或ALS等残疾人对机器人的控制。 申请人还将研究如何通过演示来培训外科医生，使用广泛而真实的数据，包括眼睛注视和触觉。这项工作可能会彻底改变导师的教学方式。该方法适用于未来网络教学的发展趋势。 超声弹性成像是机器人辅助手术中触觉反馈的一种有吸引力的替代方法。 作为组织触诊和触觉的更好替代方案，将使用与当前医疗机器人系统兼容的术中超声工具来获得手术期间的组织变形。定量组织硬度图像以及血管结构将在手术期间通过弹性成像获得，并将纳入机器人接口。通过所提出的集成触诊工具，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的生活产生越来越大的影响。改善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，最终将为医疗系统带来好处，最重要的是，为患者带来好处。