NRI: Small: Interleaved Continuum-Rigid Manipulation - Enabling High-Performance and Inherent-Safety in Minimally-Invasive Surgical Procedures

NRI：小型：交错连续刚性操纵 - 在微创手术过程中实现高性能和固有安全性

• 批准号: 1316271
• 负责人: Michael Zinn
• 金额: $ 49.52万
• 依托单位: University of Wisconsin-Madison
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2013
• 资助国家: 美国
• 起止时间: 2013-09-01 至 2018-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1316271&HistoricalAwards=false
• 关键词: NRI; Small; Interleaved; Continuum; Rigid

This project investigates a fundamentally new robotic manipulation approach for minimally-invasive surgical procedures. The approach combines flexible, actively actuated continuum segments with small, rigid-link joints -- retaining the safety advantages of flexible continuum manipulators while achieving the performance advantages of traditional rigid manipulators. The combination of performance and inherent safety is an essential element in the emerging area of co-robotic surgical applications. The overall approach is referred to as interleaved continuum-rigid manipulation. While interleaved continuum-rigid manipulation offers an attractive, intuitive approach, its apparent simplicity belies the obstacles which must be overcome prior to successful realization. This project will address these obstacles though a coordinated effort in design, modeling, and control. The design effort will seek to address the significant technical challenges of the interleaved manipulation approach including rigid-link joint actuation challenges and rigid-link joint to flexible segment drive-train coupling. The modeling investigation will establish a toolset from which the underlying behaviors of the interleaved manipulation approach can be understood. The controls investigation will seek to develop control strategies appropriate for the hybrid flexible-rigid system envisioned. Evaluation will include performance and safety-metric evaluation as well as bench top clinical evaluation, focusing on the execution of simulated clinical tasks.If successful, the results of the research will lead to improvements in manipulation capability for use in highly technical and safety critical minimally-invasive co-robotic surgical procedures. Specifically, interleaved continuum-rigid manipulation will enable levels of performance required for cooperative manipulation tasks in emerging co-robotic surgical techniques while maintaining safety. New classes of interventional techniques for neurological, cardiac, and other high risk procedures will be possible, resulting in improved outcomes and reduced morbidity. In addition, the extension to larger scale manipulators could have significant impact in other co-robotic application areas including search and rescue robotics, light-manufacturing, and home and healthcare assistive robotics. To facilitate wide dissemination of the project results, major findings will be published in both conference and peer-reviewed journals. Additionally, detailed results, including design and analysis data, will be made available online. Finally, the project will have a strong training focus by providing an integrated research and educational environment for graduate and undergraduate student researchers - including those in underrepresented groups through established University fellowship programs.

该项目研究了一种用于微创外科手术的全新机器人操作方法。 该方法将灵活的主动驱动连续体段与小型刚性连接关节相结合，保留了柔性连续体机械手的安全优势，同时实现了传统刚性机械手的性能优势。 性能和固有安全性的结合是协作机器人手术应用新兴领域的基本要素。 整体方法被称为交错连续刚性操纵。 虽然交错连续刚性操纵提供了一种有吸引力的、直观的方法，但其明显的简单性掩盖了成功实现之前必须克服的障碍。 该项目将通过设计、建模和控制方面的协调努力来解决这些障碍。 设计工作将寻求解决交错操纵方法的重大技术挑战，包括刚性连接关节驱动挑战以及刚性连接关节与柔性节段传动系统耦合。 建模研究将建立一个工具集，从中可以理解交错操作方法的基本行为。 控制调查将寻求开发适合所设想的混合柔性-刚性系统的控制策略。 评估将包括性能和安全指标评估以及台式临床评估，重点是模拟临床任务的执行。如果成功，研究结果将导致操作能力的提高，以用于高技术和安全关键的最低限度-侵入式协作机器人外科手术。 具体来说，交错的连续刚性操纵将在保持安全性的同时，实现新兴协作机器人手术技术中协作操纵任务所需的性能水平。 用于神经、心脏和其他高风险手术的新型介入技术将成为可能，从而改善结果并降低发病率。 此外，扩展到更大规模的机械手可能会对其他协作机器人应用领域产生重大影响，包括搜索和救援机器人、轻工制造以及家庭和医疗辅助机器人。 为了促进项目成果的广泛传播，主要研究结果将在会议和同行评审期刊上发表。 此外，包括设计和分析数据在内的详细结果将在线提供。 最后，该项目将通过为研究生和本科生研究人员（包括通过已建立的大学奖学金计划属于代表性不足群体的研究人员）提供综合研究和教育环境，将重点放在培训上。