CPS Small: Control of Surgical Robots: Network Layer to Tissue Contact

CPS小号：手术机器人的控制：网络层到组织接触研究目标：这个拟议的CPS项目旨在实现智能外科手术，其中外科医生或外科医生的分布式团队可以在最小的访问下在身体的微小区域工作。华盛顿大学将扩展现有的开放式手术机器人试验台，并为网络物理系统创建一个强大的基础设施，通过为系统添加三个新接口来扩展传统的实时控制和远程操作概念：网络，智能机器人和新型非线性控制器。 智力优势：该项目旨在通过增加先进的机器人功能，突破远程操作的新领域。同样强大和灵活的网络，高级接口和新颖的控制器将被添加到现有的系统。由此产生的系统将是一个开放的体系结构和基板上，许多信息物理系统的想法和算法将在现实条件下进行测试。 经验证的平台的物理坚固性将允许对结果进行严格的评估，开放的界面将鼓励合作和分享结果。更广泛的影响：我们希望这些结果能够以多种方式进行新的研究。首先，合作者，如约翰霍普金斯，加州大学。圣克鲁斯和几个外国机构将能够远程连接到该项目提供的新的高级别接口。第二，第一次，一个强大的和完全开放的手术遥控机器人将可用于研究，使CPS研究人员不需要局限于孤立的玩具问题，而是能够原型先进的手术机器人技术，并在现实的情况下，包括动物程序进行评估。

CPS Small: Control of Surgical Robots: Network Layer to Tissue ContactResearch Objectives: This proposed CPS project aims to enable intelligent telesurgery in which a surgeon, or a distributed team of surgeons, can work on tiny regions in the body with minimal access. The University of Washington will expand an existing open surgical robot testbed, and create a robust infrastructure for cyber-physical systems with which to extend traditional real-time control and teleoperation concepts by adding three new interfaces to the system: networking, intelligent robotics, and novel non-linear controllers. Intellectual Merit: This project aims to break new ground beyond teleoperation by adding advanced robotic functions. Equally robust and flexible networking, high-level interfaces, and novel controllers will be added to the existing sytsem. The resulting system will be an open architecture and a substrate upon which many cyber-physical system ideas and algorithms will be tested under realistic conditions. The platforms proven physical robustness will permit rigorous evaluation of results and the open interfaces will encourage collaboration and sharing of results. Broader Impacts: We expect the results to enable new research in multiple ways. First, the collaborators such as Johns Hopkins, U.C. Santa Cruz, and several foreign institutions will be able to remotely connect to new high level interfaces provided by this project. Second, for the first time a robust and completely open surgical telerobot will be available for research so that CPS researchers do not need to be limited to isolated toy problems but instead be able to prototype advanced surgical robotics techniques and evaluate them in realistic contexts including animal procedures.