RoboPatient - Robot assisted learning of constrained haptic information gain

RoboPatient - 机器人辅助学习受限触觉信息增益

• 批准号: EP/T00603X/1
• 负责人: Thrishantha Nanayakkara
• 金额: $ 137.21万
• 依托单位: Imperial College London
• 依托单位国家: 英国
• 项目类别: Research Grant
• 财政年份: 2019
• 资助国家: 英国
• 起止时间: 2019 至 无数据
• 项目状态: 未结题
• 来源: https://gtr.ukri.org/projects?ref=EP%2FT00603X%2F1
• 关键词: RoboPatient; Robot; assisted; learning; constrained

Primary examination of a patient by a physician often involves physical examination to estimate the condition of internal organs in the abdomen. It is tacit knowledge among physicians that the skill to combine haptic cues with visual reaction feedback during physical examination of a patient is key to establish trust and to improve the accuracy of preliminary diagnosis. Clinical sessions in medical training involve either using real patients or static rubber mannequins. Both methods are opaque to some key information - such as how variation of physician's finger stiffness affects stress levels at organ boundaries. Moreover, feedback given in ward demonstrations is often qualitative. The ambition of this project is to investigate how a functional robotic patient can establish an efficient link between an expert demonstrator and a trainee physician to develop palpation skills that the two human counterparts cannot establish using a real patient. In this project, we introduce the first generation of a functional robotic patient with sensorised and controllable internal organs together with a detailed finite element-based abdominal tissue model to visualise enhanced sensor data. The human-robot interaction will be enriched using augmented reality based facial reactions during physical examination of the robotic patient. This will help trainee physicians to derive deeper insights into the demonstrations from a tutor. A robotic patient would also allow us to quantify and reinforce established techniques - for example starting distant regions to "calibrate" the peripheral sensory system, while learning what represents optimal approaches - such as pressing just enough with the right frequency. The experiential feedback loop will, therefore, allow us to quantify the improvement.The main scientific outcome of this project will be a deeper understanding of how an expert physician could use a robot-assisted approach to allow a trainee physician to efficiently acquire the skill of manual palpation subject to visually perceived constraints. First trials will be done at the University of Surrey, with a subsequent introduction to other General Practitioner trainers and trainees through Royal College of General Practitioners workshops. Student and tutor feedback from pilot trials will be used to improve the robo-patient design in a user-centred co-design framework.

医生对患者的初级检查通常涉及体格检查，以估计腹部内脏的状况。在医生中，隐性知识是，在患者体格检查期间，将触觉线索与视觉反应反馈相结合的技能是建立信任并提高初步诊断的准确性的关键。医学训练中的临床课程涉及使用真实的患者或静态橡胶人体模特。两种方法都不透明某些关键信息 - 例如，医师的手指刚度如何影响器官边界的应力水平。此外，病房演示中给出的反馈通常是定性的。该项目的野心是调查功能性机器人患者如何在专家演示者和受训医师之间建立有效的联系，以发展两个人无法使用真正患者建立的触诊技能。 在这个项目中，我们介绍了具有传感和可控制的内脏器官的第一代功能性机器人患者，以及详细的有限元基于元素的腹部组织模型，以可视化增强的传感器数据。在机器人患者体格检查期间，使用基于现实的面部反应来富集人类机器人的相互作用。这将有助于受训人员医生对教师的示威进行更深入的了解。机器人患者还可以允许我们量化和加强建立的技术 - 例如，启动远处以“校准”外围感觉系统，同时学习代表最佳方法的内容 - 例如以正确的频率按足够的速度。因此，体验反馈循环将使我们能够量化改进。该项目的主要科学结局将对专家医师如何使用机器人辅助方法进行更深入的了解，以允许受训医生有效地获得手动palpation的技能，从而获得视觉上感知的约束。首次试验将在萨里大学进行，随后通过皇家全科医生学院的讲习班对其他全科医生培训师和受训者进行了介绍。试验试验的学生和导师反馈将用于改善以用户为中心的共同设计框架中的机器人设计。

项目成果

Soft Control Interface for Highly Dexterous Unilateral Remote Palpation

• DOI: 10.1109/biorob52689.2022.9925318
• 发表时间: 2022-08
• 期刊: 2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)
• 作者: Leone Costi;T. Lalitharatne;F. Iida

Author Correction: Adapting the visuo-haptic perception through muscle coactivation.

• DOI: 10.1038/s41598-022-23215-8
• 发表时间: 2022-11-02
• 期刊: Scientific reports
• 影响因子: 4.6

Intelligent Autonomous Systems 16 - Proceedings of the 16th International Conference IAS-16

智能自治系统 16 - 第 16 届国际会议 IAS-16 论文集

• DOI: 10.1007/978-3-030-95892-3_22
• 发表时间: 2022
• 作者: Danno D

Origami Inspired Design for Capsule Endoscope to Retrograde Using Intestinal Peristalsis

受折纸启发的胶囊内窥镜利用肠道蠕动逆行的设计

• DOI: 10.1109/lra.2022.3157406
• 发表时间: 2022
• 期刊: IEEE Robotics and Automation Letters
• 影响因子: 5.2
• 作者: Ge Y

A State-Dependent Damping Method to Reduce Collision Force and Its Variability

一种减少碰撞力的状态相关阻尼方法及其变异性

• DOI: 10.1109/lra.2021.3062307
• 发表时间: 2021
• 期刊: IEEE Robotics and Automation Letters
• 影响因子: 5.2
• 作者: Hamid E