Control and interfaces for teleoperated robots

远程操作机器人的控制和接口。*申请人的研究项目是机器人远程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，机器人安装的器械和3D摄像机通过微创切口插入患者体内。外科医生从远程控制台远程操作这些器械和相机，并使用两个主机械臂显示3D相机视图。*超声是用于指导医疗干预的主要实时成像方法。超声弹性成像是对组织变形或僵硬进行成像的一种特殊方式。弹性成像成像可以被认为是一种定量触诊，一种医学检查形式。该项目的目标是改善操作员与机器人系统之间的接口，并提高操作员对环境的认识。*申请人将开展医疗机器人遥操作的触觉反馈研究。这将给控制台中的用户界面增加一种器械在手术过程中遇到的力的感觉。为了改善界面，还将跟踪眼睛凝视，并将其用于将机械臂推向操作员正在观看的地方。应用包括机器人的所有领域，如医疗机器人、无人机或移动机器人，或由残疾人控制机器人，如肌萎缩侧索硬化症。*申请者还将学习如何通过演示来培训外科医生，使用广泛和现实的数据，包括眼睛凝视和触觉。这项工作可能会彻底改变导师的教学方式。该方法适用于未来流行的基于网络的教学。*超声波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案。*作为组织触诊和触觉的更好替代方案，与当前医疗机器人系统兼容的术中超声工具将用于在手术过程中获得组织变形。定量的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，并将被合并到机器人界面中。通过拟议的集成触诊工具，外科医生将能够看到组织下的情况，以定位敏感的解剖结构和病理。*机器人和遥操作正在对我们的生活产生越来越大的影响。改善人机接口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，最终受益于医疗系统，最重要的是患者。**

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. **