Human-robot shared control of surgery: Trajectory and strategy collaboration in bimanual peg transfer.

王子威  博士

郭遥  博士

报告时间：2024.10.09 10：00

报告地点：转化医学大楼E200会议室

摘要：

To facilitate performing surgery in laparoscopic environments, a surgeon could benefit greatly from the assistance of a robotic arm controlled through teleoperation. However, it is currently unclear how surgical robots should be programmed to effectively support the surgeon's movements. To address this issue, a haptic teleoperation system that enables complex manipulation and docking tasks will be presented. This system allows for surgeon demonstrations of motor skills, which can then be developed into autonomous operation capabilities. The haptic teleoperation system includes various control modes for object capture and assembly tasks, such as manual, semi-autonomous, and fully autonomous modes. Additionally, the system utilizes biomonitoring to estimate the operator’s mental load, holographic user interfaces to enhance usability, and haptic feedback to improve system transparency for the operator. Successful interaction tasks, including peg transfer based on the Da Vinci Surgical Robot System, have validated that the developed techniques can be transferable to other types of human-machine interfaces, including command through the feet.

主讲人介绍：

Ziwei Wang is a Lecturer in Robotics at Lancaster University, leading the Advanced Robotic Teleoperation Lab at the Lancaster Intelligent, Robotic and Autonomous Systems Centre (LIRA). He received the Ph.D. degree from the Department of Automation at Tsinghua University, China. Prior to joining Lancaster University, he worked as a Research Associate with the Human Robotics Group in the Department of Bioengineering at Imperial College London, U.K.

His main research interests and expertise include teleoperation systems, human sensorimotor augmentation, and human-robot interaction. He has led research projects as PI or Co-I funded by Horizon 2020, Innovate UK, The Royal Society, etc. He was a Visiting Scholar at King’s College London, UK, and is the Robotics and AI Collaboration (RAICo) Fellow funded by Nuclear Decommissioning Authority, UK Atomic Energy Authority, Sellafield Ltd and The University of Manchester. He has served as an Associate Editor of Biomimetic Intelligence and Robotics (BIROB), Guest Editor of IEEE Transactions on Industrial Cyber-Physical Systems. He is the receipt of Young Author Award at IFAC Workshop on Control Applications of Optimization in 2018, Best Paper Award of IEEE International Conference on Automation and Computing in 2022, Best Poster Award of IROS Workshop 2022.