CAREER: Toward Automating Surgical Tasks

职业：实现手术任务自动化

• 批准号: 1149965
• 负责人: Ron Alterovitz
• 金额: $ 44.96万
• 依托单位: University of North Carolina at Chapel Hill
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2012
• 资助国家: 美国
• 起止时间: 2012-03-01 至 2019-02-28
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1149965&HistoricalAwards=false
• 关键词: CAREER; Toward; Automating; Surgical; Tasks

This project, developing a new motion planning framework for medical robots that combines automatic planning algorithms, robot control, and human oversight to enable new and safer robotic procedures that are beyond current clinical capabilities, will increase the autonomy of surgical robotic systems. This framework will result in improved speed, accuracy, and precision of existing procedures and enable entirely new classes of procedures that require dexterity and control beyond the capability of a human operator. The funding of this proposed work will introduce and evaluate a new motion planning framework that simultaneously addresses the challenges of deformations, uncertainty, and optimality that arise in medical applications. The research will combine ideas from multiple areas of computer science and engineering, including robotics, computer graphics, finite element methods, optimization theory, Markov decision processes, stochastic modeling, and learning from demonstrations. Expected scientific contributions include new motion planning algorithms that efficiently integrate physically-based simulation, motion planning under uncertainty, and sensor placement, as well as new approaches to integrate user input into feedback-based motion planning. In the long term, these contributions may lead to new avenues of research at the intersection of motion planning, anatomy and biomechanical modeling, learning from demonstrations, and medical robotics.Broader Impacts: A motion planning framework for medical robots will improve patient care and the resulting increased autonomy will reduce surgical errors -- which currently contribute to 1 in 10 post-surgical deaths -- by enabling physicians to focus on high-level tasks rather than low-level motion control. The application of this framework to prostate interventions, lung biopsies, and neurosurgery could affect hundreds of thousands of people annually and have broad societal impact. The ability of computer science to improve healthcare may attract new students to computer science who might previously not have been interested in the field, particularly women and underrepresented groups. The PI will develop new outreach activities centered around an interactive game-like simulation of medical procedures that highlights the impact that computer science can have on medicine, create a new undergraduate course for pre-meds to teach future physicians crucial computer science concepts, and revamp the robotics curriculum to create excitement through labs and provide students with the skills necessary to pursue a career in America's growing healthcare and service robotics industries.

该项目为医疗机器人开发了新的运动计划框架，该计划结合了自动计划算法，机器人控制和人类监督，以实现超出当前临床能力的新的和更安全的机器人程序，这将增加手术机器人系统的自主权。该框架将提高现有过程的速度，准确性和精度，并启用全新的程序，这些程序需要灵巧和控制超出人类操作员的能力。这项拟议工作的资金将介绍和评估一个新的运动计划框架，该框架同时解决了医疗应用中出现的变形，不确定性和最佳性的挑战。该研究将结合来自计算机科学和工程的多个领域的想法，包括机器人技术，计算机图形，有限元方法，优化理论，马尔可夫决策过程，随机建模以及从演示中学习。预期的科学贡献包括新的运动计划算法，这些算法有效地整合了基于物理的模拟，不确定性下的运动计划和传感器放置，以及将用户输入整合到基于反馈的运动计划中的新方法。 In the long term, these contributions may lead to new avenues of research at the intersection of motion planning, anatomy and biomechanical modeling, learning from demonstrations, and medical robotics.Broader Impacts: A motion planning framework for medical robots will improve patient care and the resulting increased autonomy will reduce surgical errors -- which currently contribute to 1 in 10 post-surgical deaths -- by enabling physicians to focus on high-level tasks rather than低级运动控制。该框架在前列腺干预，肺活活检和神经外科手术中的应用可能每年影响成千上万的人，并具有广泛的社会影响。计算机科学改善医疗保健的能力可能会吸引新生进入计算机科学，他们以前可能对该领域不感兴趣，尤其是女性和代表性不足的群体。 PI将开发新的外展活动，该活动围绕类似游戏的医学程序模拟，突出了计算机科学对医学的影响，创建了一门新的大学课程，以教授预科医师来教会未来的医生计算机科学概念，并改进机器人的重要课程，以通过实验室来通过实验室来兴奋，并为学生提供所需的技能，从而使自己的职业生涯不断发展。