医院中的人形机器人：用于灵巧医疗干预的人形机器人代理技术研究
Humanoids in Hospitals: A Technical Study of Humanoid Robot Surrogates for Dexterous Medical Interventions
AI总结：
针对医护人员短缺问题，研究开发了适配Unitree G1人形机器人的双臂遥操作系统，经7类医疗任务验证其可完成多种临床操作，同时指出了力输出与传感器方面的现存局限。
摘要：
人口老龄化和劳动力短缺导致对医护人员的需求不断增长，这给医院带来了重大挑战。人形机器人凭借其类人的灵巧性和适应性，有望通过辅助医疗操作来缓解这些压力。本工作针对人形机器人通过遥操作执行直接临床任务的可行性开展了探索性研究。研究为Unitree G1人形机器人开发了一套双臂遥操作系统，该系统集成了高保真姿态跟踪、定制抓取配置以及阻抗控制器，可安全、精准地操作医疗工具。研究在7种不同的医疗操作中对系统进行了评估，涵盖体格检查、急诊干预以及精准针刺任务。结果表明，人形机器人能够成功复现人类医疗评估和干预的关键环节，在通气任务和超声引导任务中展现出可观的量化性能。但目前仍存在挑战，包括针对需大力量操作的力输出限制，以及影响临床精度的传感器灵敏度问题。本研究揭示了人形机器人在医院场景中的潜力与当前局限，为未来机器人医疗集成研究奠定了基础。
英文摘要：
The increasing demand for healthcare workers, driven by aging populations and labor shortages, presents a significant challenge for hospitals. Humanoid robots have the potential to alleviate these pressures by leveraging their human-like dexterity and adaptability to assist in medical procedures. This work conducted an exploratory study on the feasibility of humanoid robots performing direct clinical tasks through teleoperation. A bimanual teleoperation system was developed for the Unitree G1 Humanoid Robot, integrating high-fidelity pose tracking, custom grasping configurations, and an impedance controller to safely and precisely manipulate medical tools. The system is evaluated in seven diverse medical procedures, including physical examinations, emergency interventions, and precision needle tasks. Our results demonstrate that humanoid robots can successfully replicate critical aspects of human medical assessments and interventions, with promising quantitative performance in ventilation and ultrasound-guided tasks. However, challenges remain, including limitations in force output for procedures requiring high strength and sensor sensitivity issues affecting clinical accuracy. This study highlights the potential and current limitations of humanoid robots in hospital settings and lays the groundwork for future research on robotic healthcare integration.
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