A Haptic-enabled Teleoperated Robotic Platform with Vision and Artificial Intelligence Capabilities

具有视觉和人工智能功能的触觉遥控机器人平台

• 批准号: RTI-2023-00095
• 负责人: Zareinia, Kourosh
• 金额: $ 10.93万
• 依托单位: Ryerson University
• 依托单位国家: 加拿大
• 项目类别: Research Tools and Instruments
• 财政年份: 2022
• 资助国家: 加拿大
• 起止时间: 2022-01-01 至 2023-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=759716
• 关键词: Haptic; enabled; Teleoperated; Robotic; Platform

Haptic-enabled telerobotics has received an increasing attention in the recent years due to the effectiveness of robot-assisted procedures. Providing haptic feedback for operators provides an additional link that potentially improves performance compared to visual/audio feedbacks alone. Recent analysis by Reuters reveals an expected market growth of 20.8% for medical robotics during 2017-2023. Therefore, research progress in surgical robotics is of imminent importance to both healthcare and growing biomedical industry of Canada. Haptic-enabled telerobotics can be used in environments where the presence of operators is extremely dangerous due to contamination or exposure to hazardous material or radiations such as X-Ray. On the other hand, a teleoperated robotic platform can be used for space surgery and telemetry. Astronauts are currently living on the International Space Station (ISS) for extended intervals, which poses a high probability for trauma or medical emergencies. Therefore, there is an increasing need for provision of safe medical and surgical care to astronauts in space. Astronauts in the ISS can assist experienced surgeons on earth to conduct treatment procedures via a teleoperated robotic platform remotely. Despite recent progress, haptic-enabled telerobotics is still facing numerous challenges that require further research in control, communication and human-machine interaction and presents significant research opportunities to overcome issues related to stability, performance, and safety. The requested equipment, a high-definition haptic device and a 6 degrees-of-freedom robot, is the only economic solution in the market that is readily available and can expedite research programs in the fields of haptics and telerobotics. Having a flexible open architecture (in MATLABr/Simulinkr) will also ease rapid integration of various control methods and accommodation of different applications, leading to the increased usage of the equipment. The research programs of the applicants and collaborators that will immediately benefit from the requested equipment include: (i) telerobotic platforms for space surgery and telemetry, (ii) image-guided continuum robots for medical interventions such as cardiac catheterization, and (iii) haptic-enabled localization, mapping, and telemanipulation of mobile robots. The requested equipment will be installed in a zone accessible to other researchers across the campus to maximize its use and to meet the needs of versatile research programs. Postdoctoral fellows, graduate and undergraduate students will be trained to operate the state-of-the-art haptic-enabled robotic system, and to learn advanced control and experimental techniques, that are important to their studies and in high-demand by Canadian healthcare and other industries. In addition to TMU, this new equipment will expand robotics research capacity of hospitals and industrial partners.

近年来，由于机器人辅助手术的有效性，触觉遥控机器人受到了越来越多的关注。为操作员提供触觉反馈提供了额外的链接，与单独的视觉/音频反馈相比，该链接可能提高性能。路透社最近的分析显示，2017年至2023年期间，医疗机器人市场预计将增长20.8%。因此，手术机器人的研究进展对加拿大的医疗保健和不断发展的生物医学产业都具有迫在眉睫的重要性。触觉遥控机器人可用于由于污染或暴露于危险材料或辐射（如X射线）而导致操作员存在极其危险的环境中。另一方面，遥控机器人平台可用于太空手术和遥测。宇航员目前在国际空间站（ISS）上生活的时间很长，这很可能造成创伤或医疗紧急情况。因此，越来越需要向空间宇航员提供安全的医疗和外科护理。国际空间站的宇航员可以通过远程操作的机器人平台协助地球上经验丰富的外科医生进行治疗。尽管最近取得了进展，但触觉遥控机器人仍然面临着许多挑战，需要在控制，通信和人机交互方面进行进一步的研究，并为克服与稳定性，性能和安全性相关的问题提供了重要的研究机会。 所要求的设备，一个高清晰度的触觉设备和一个6自由度的机器人，是市场上唯一的经济解决方案，是现成的，可以加快在触觉和遥控机器人领域的研究计划。具有灵活的开放式架构（在MATLABr/Simulink中）也将简化各种控制方法的快速集成和不同应用的适应，从而增加设备的使用。申请人和合作者的研究方案将立即受益于所要求的设备，包括：（一）用于空间手术和遥测的远程机器人平台，（二）用于心脏导管插入术等医疗干预的图像引导连续体机器人，以及（三）移动的机器人的触觉定位，绘图和远程操纵。 所要求的设备将安装在校园内其他研究人员可以访问的区域，以最大限度地利用它，并满足多功能研究项目的需求。博士后研究员，研究生和本科生将接受培训，以操作最先进的触觉机器人系统，并学习先进的控制和实验技术，这些技术对他们的研究非常重要，并受到加拿大医疗保健和其他行业的高度需求。除了TMU之外，这种新设备还将扩大医院和工业合作伙伴的机器人研究能力。