Dynamic Interrogation using Bimodal Sensing and Statistical Game Control

市场上的许多当前医学成像设备在源和探测器位置固定的意义上是静态的。如果源和探测器位置智能地改变，则可以创建性能优越的医学成像设备。开发这样一个高性能的系统需要新的传感器和执行器协调。 我们将设计，构建和测试一个动态询问系统，该系统将能够区分良性和恶性肿瘤。该系统将通过动态调整传感器几何形状来非侵入性地表征肿瘤。 当通过机械臂从表面施加压力时，我们的系统将捕获病变的弹性和生理变化。 本文提出了一种新的机器人手臂协调控制理论。该提案展示了科学和概念创新，因为它致力于开发一种新的传感系统，通过动态获得的图像提供肿瘤的触摸和颜色特性。这将在医疗机器人系统中特别有用，因为它将允许更准确的性能，更深的询问深度和更大的询问区域。以非侵入性和无害（无电离辐射）方式识别恶性肿瘤的动态询问系统将对筛查，诊断和活检率产生重大影响。这种医学成像设备的一个特定应用是减少乳腺肿瘤过度诊断，这将导致死亡率的提高和整体医疗保健成本的降低。也许，对社会的主要好处可能是该设备将准确评估农村和偏远地区妇女患乳腺癌的风险。我们将在这个项目中培养一名研究生和两名本科生研究人员，并将为工程专业的学生介绍一门新的传感系统课程。 我们的原型系统将通过工程开放日成为高中生外展活动的焦点，并通过Ayuda社区中心夏令营成为K-8儿童，该夏令营为费城北部地区的低收入，非洲裔美国人和西班牙裔儿童提供服务。该项目的目标是（1）开发一个动态审讯系统，（2）使用Stackelberg统计博弈控制智能地协调传感器/致动器几何形状，以及（3）集成系统并测试动态询问系统。 传统的X射线源/探测器几何结构是静态的，因此它导致二维信息。 最佳地改变源和检测器几何形状将导致更准确的三维信息。这个项目的范围是开发一个程序游戏控制方法，通过动态改变传感器的空间几何形状来提高性能。 我们将开发一个动态询问系统，其中光源的位置和方向以及检测器的位置被最佳控制，以表征嵌入的夹杂物。将分别通过触觉成像传感器和漫射光谱测量肿瘤的粘弹性和生理特性。 这些双峰传感器将与机器人机械手动态控制。对于动态传感器/执行器的几何控制，一种新的博弈控制策略，Stackelberg统计博弈控制，将被开发。 这是一种领导者-追随者类型的游戏控制策略，它塑造了成本分布。 因此，源和传感器的位置和取向将被优化。这将允许系统以更高的精度测量触觉和光谱特性。我们建议开发双峰乳腺肿瘤模型进行测试。研究人员将使用100块鸡胸肉来确定检测恶性肿瘤的灵敏度和特异性。该系统将通过一种新的控制理论动态调整传感器/执行器的几何形状，非侵入性地表征夹杂物。 最后，与静态系统相比，动态传感器/致动器控制将允许系统具有更高的灵敏度和特异性。该项目将通过智能控制传感器几何形状和集成多种模式来推进传感系统领域。该奖项反映了NSF的法定使命，并通过使用基金会的知识价值和更广泛的影响审查标准进行评估，被认为值得支持。

Many of the current medical imaging devices on the market are static in the sense that the source and detector positions are fixed. If the source and detector positions change intelligently, superior performance medical imaging devices could be created. Developing such a high-performance system demands novel sensor and actuator coordination. We will design, build, and test a Dynamic Interrogation System that will be able to differentiate between benign and malignant tumors. The system will non-invasively characterize tumors by dynamically adjusting the sensor geometry. Our system will capture the elasticity and physiological changes of the lesions when pressure is applied from the surface via robotic arms. A novel cooperative control theory will be developed for the robot arm control. This proposal displays both scientific and conceptual innovation as it works to develop a new sensing system that provides the touch and color properties of a tumor through dynamically obtained images. This will be especially useful in medical robotic systems because it would allow for more accurate performance, deeper interrogation depth, and larger interrogation areas. The Dynamic Interrogation System that identifies malignant tumors in a non-invasive and harmless (no ionizing radiation) manner will have a significant impact on the screening, diagnosis, and biopsy rate. One particular application for this medical imaging device is in reducing breast tumor overdiagnosis, which would lead to improved mortality rates and overall reduced health care costs. Perhaps, the main benefit to society may be that the device will accurately assess the risk of breast cancer for women in rural and remote regions. We will train one graduate student and two undergraduate researchers in this project and will also introduce a new Sensing Systems course for engineering students. Our prototype system will be the focus of outreach activities for high school students through Engineering Open Houses, and K-8 children through the Ayuda Community Center Summer Camp, which serves low-income, African-American and Hispanic children in the north Philadelphia area.This project's goals are to (1) develop a dynamic interrogation system, (2) intelligently coordinate the sensor/actuator geometry using Stackelberg Statistical Game Control, and (3) integrate the system and test the dynamic interrogation system. Conventional X-ray source/detector geometry is static, so it leads to two-dimensional information. Optimally varying the source and detector geometry will lead to more accurate three-dimensional information. The scope of this project is to develop a procedural game control method to improve the performance by dynamically changing the spatial geometry of the sensors. We will develop a Dynamic Interrogation system, where the position and orientation of the light source and the position of the detectors are optimally controlled to characterize embedded inclusions. Viscoelastic and physiologic properties of tumors will be measured by Tactile Imaging Sensor and Diffuse Optical Spectroscopy, respectively. These bimodal sensors will be dynamically controlled with the robotic manipulators. For dynamic sensor/actuator geometry control, a novel game control strategy, Stackelberg Statistical Game Control, will be developed. This is a leader-follower type of game control strategy that shapes the cost distribution. Consequently, the position and orientation of the sources and sensors will be optimized. This will allow the system to measure tactile and spectral properties with higher accuracy. We propose to develop bimodal breast tumor models for testing. Investigators will determine the sensitivity and specificity of detecting malignant tumors using one hundred chicken breasts. The system will non-invasively characterize inclusions by dynamically adjusting the sensor/actuator geometry through a novel control theory. Finally, dynamic sensor/actuator control will allow the system to have higher sensitivity and specificity compared to a static system. This project will advance the field of sensing systems by intelligently controlling sensor geometry and integrating multiple modalities.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.