Robust-Sub-Gaussian Model Predictive Control for Safe Ultrasound-Image-Guided Robotic Spinal Surgery

摘要

Safety-critical control using high-dimensional sensory feedback from optical data (e.g., images, point clouds) poses significant challenges in domains like autonomous driving and robotic surgery. Control can rely on low-dimensional states estimated from high-dimensional data. However, the estimation errors often follow complex, unknown distributions that standard probabilistic models fail to capture, making formal safety guarantees challenging. In this work, we introduce a novel characterization of these general estimation errors using sub-Gaussian noise with bounded mean. We develop a new technique for uncertainty propagation of proposed noise characterization in linear systems, which combines robust set-based methods with the propagation of sub-Gaussian variance proxies. We further develop a Model Predictive Control (MPC) framework that provides closed-loop safety guarantees for linear systems under the proposed noise assumption. We apply this MPC approach in an ultrasound-image-guided robotic spinal surgery pipeline, which contains deep-learning-based semantic segmentation, image-based registration, high-level optimization-based planning, and low-level robotic control. To validate the pipeline, we developed a realistic simulation environment integrating real human anatomy, robot dynamics, efficient ultrasound simulation, as well as in-vivo data of breathing motion and drilling force. Evaluation results in simulation demonstrate the potential of our approach for solving complex image-guided robotic surgery task while ensuring safety.