CISE-RR Equipment Proposal for Medical Robotics and Human-Machine Interfacing Research at the Case Western Reserve University

该项目研究医疗机器人和人机界面，旨在获得支持以下研究项目的基础设施：开发智能机器人工具来执行非泵操作（心脏跳动）冠状动脉旁路移植手术，在约束操作中的人类策略的识别，特别是机械组装，康复机器人的命令界面替代方案的调查。第一个项目取代传统的手术工具与机器人仪器是在外科医生的直接控制下，通过遥操作本项目中提出的智能遥控机器人工具将通过主动相对运动消除（ARMC）算法主动跟踪和消除手术器械与心脏之间的相对运动，从而使手术能够在跳动的心脏上进行，其技术完美性等同于传统的体外循环手术。本研究的重点是：基于模型的ARMC控制算法的开发，传感系统的开发，以及心脏行为的建模。第二个更具争议性的项目，模拟人类肢体控制，假设存在一个虚拟轨迹作为意图的心理表征。工作仪器人类操纵任务，分析数据以推断一致的虚拟轨迹。分析，然后扩展到直接转移人类的技能，机器人通过演示。第三个项目从一些来源构建机器人控制的替代接口，以客观地衡量在定时机器人目标获取任务中竞争方法的有效性。瘫痪的人通常受益于能够使用眼睛、面部和头部运动来控制计算机、机器人，甚至是他们自己的刺激肢体。更广泛的影响：如果成功，这三个项目应该会对社会产生重大影响。第一项开发的技术将通过降低并发症发生率、风险和运营成本，节省直接医疗成本，促进冠状动脉疾病手术治疗的改善。第二个项目可能会影响制造业（力响应装配）。第三个命令是四肢瘫痪者的接口。

This project, investigating medical robotics and human-machine interfaces, aims to acquire infrastructure to support the following research projects: Development of intelligent robotic tools to perform off-pump (beating heart) coronary artery bypass graft surgery, Identification of human strategies in constrained manipulation, especially mechanical assembly, and Investigation of command interface alternatives for rehabilitation robotics.The 1st project replaces conventional surgical tools with robotics instruments that are under direct control of the surgeon through teleoperation. The intelligent telerobotic tools proposed in this project will actively track and cancel the relative motion between the surgical instruments and the heart by Active Relative Motion Canceling (ARMC) algorithms, allowing the surgeries to be performed on a beating heart with technical perfection equal to traditional on-pump procedures. This research focuses on: development of control algorithms for model based ARMC, developing of sensing systems, and modeling of heart behavior. The 2nd more controversial project, modeling human limb control, assumes the existence of a virtual trajectory as a mental representation of intention. The work instruments human manipulation tasks, analyzing the data to infer consistent virtual trajectories. The analysis is then extended to direct transfer of human skills to robots through demonstration. The 3rd project constructs alternative interfaces for robot control from some sources to objectively measure efficacy of competing approaches in a timed robotic target acquisition task. Paralyzed individuals often benefit from being able to command computers, robots, and even their own stimulated limbs using eye, face, and head motions.Broader Impact: If successful, the three projects should have a significant impact on society. The technology developed in the first will facilitate improvement in surgical treatment of coronary artery disease by reducing the rate of complications, risk, and operational cost, saving direct healthcare costs. The second project could impact manufacturing (force-responsive assembly). The third commands interfaces for tetraplegics.