CRII:SCH:Human-in-the-loop Design and Control of Handheld Robotic Instruments for Laparoscopic Surgery

CRII：SCH：腹腔镜手术手持机器人器械的人机交互设计和控制

基本信息

批准号：
1850400
负责人：
Tania Morimoto
金额：
$ 17.5万
依托单位：
University of California-San Diego
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2019
资助国家：
美国
起止时间：
2019-06-01 至 2022-05-31
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1850400&HistoricalAwards=false
关键词：
CRII SCH Human loop Design

项目摘要

High-quality, affordable surgical care should be widely available, yet availability often depends largely on environmental factors. For example, the infrastructure for expensive equipment and expert surgeons may not exist in remote environments, including rural hospitals, battlefronts and space flights. While there has been significant research into the development of large-scale robot- assisted minimally invasive surgical systems, commercial systems and trained surgeons are both expensive as well as limited resources. This project focuses on developing lower-cost, handheld robotic devices that combine the strengths of direct human-operators with the precision and dexterity of robots. These handheld robots will have broad impact in the medical field, by improving the health, well-being, and standard of care for underserved patients. In addition, the fundamental principles of human-in-the-loop design and control discovered through this research will help guide the creation of new devices in other areas of healthcare, manufacturing, and defense. This project aims to broaden participation in engineering through outreach programs, public lab tours, the development of a new hands-on course, and the mentoring of underrepresented students.In order to create handheld robotic devices, this project will take a human-focused approach to design and control through three main technical components. First, a model of the handheld device that incorporates the dynamics of the human hand, along with fatigue models for various muscle groups in the hands and arms will be developed. These models will help inform the device design. Second, the efficiency and accuracy of different strategies for both steering the instrument, as well as for mapping hand movement to instrument movement, will be evaluated. Third, flexible strain sensors will be incorporated for measuring task-critical force information that will then be displayed to the operator using haptic feedback in the form of directional cues. The optimal feedback parameters, along with the effectiveness of haptic feedback in improving task performance, will be measured. By developing a human-focused design approach, this work will expand our understanding of human-robot interactions for classes of robots beyond telerobots and can provide guiding principles for creating new robots with applications beyond surgery and healthcare.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.

高质量，负担得起的手术护理应广泛使用，但可用性通常取决于环境因素。例如，昂贵的设备和专家外科医生的基础设施在偏远环境中可能不存在，包括乡村医院，战场和太空航班。尽管对大规模机器人辅助的微创手术系统的发展进行了重大研究，但商业系统和训练有素的外科医生都昂贵，而且资源均有限。该项目着重于开发低成本的手持机器人设备，这些设备将直接人类操作员的优势与机器人的精确性和灵巧性相结合。这些手持机器人将通过改善服务不足的患者的健康，福祉和护理标准，对医疗领域产生广泛的影响。此外，通过这项研究发现的人类设计和控制的基本原理将有助于指导在医疗保健，制造和国防其他领域创建新设备。该项目旨在通过外展计划，公共实验室旅行，开发新的动手课程以及对代表性不足的学生的指导来扩大工程的参与。在创建手持机器人设备的情况下，该项目将采用以人为中心的方法通过三个主要技术组件设计和控制。首先，将开发一种掌握手持设备的模型，该模型将开发出人手动力学的动力学，以及针对手臂和手臂各种肌肉组的疲劳模型。这些模型将有助于告知设备设计。其次，将评估不同策略的效率和准确性，以指导仪器以及将手动移动绘制到仪器运动的效率和准确性。第三，将合并柔性应变传感器，以测量任务关键力量信息，然后使用方向提示的形式使用触觉反馈向操作员展示。将测量最佳反馈参数，以及触觉反馈在改善任务绩效方面的有效性。通过开发一种以人为中心的设计方法，这项工作将扩大我们对远出机器人以外机器人类的人类机器人互动的理解，并可以提供指导原则，以通过外科手术和医疗保健范围来创建新机器人。该奖项反映了NSF的法定任务，并具有使用基金会的知识分子优点和更广泛的审查标准，被认为值得通过评估来支持。