CAREER: Lifesaving Robotic Tentacles

职业：救生机器人触手

• 批准号: 1054331
• 负责人: Robert Webster
• 金额: $ 40万
• 依托单位: Vanderbilt University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2011
• 资助国家: 美国
• 起止时间: 2011-07-01 至 2017-06-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1054331&HistoricalAwards=false
• 关键词: CAREER; Lifesaving; Robotic; Tentacles

Within medical robotics, this research advances telerobotics, and continuum robot architectures, models, sensing, and control, as well as medical science by enabling new diagnostic procedures. Scientific understanding of continuum robots is entering an exciting era where early assumptions implying constant curvature are giving way to more descriptive models of how actuators and external loads combine to produce variable curvatures. Infusing theory from mechanics into robotics science provides a bright path forward. Outside its own field, this also enhances human understanding of biology ? mechanics-based models provide insight on how elephant trunks, octopus tentacles, and other biological continuum structures perform so elegantly.These systems are minimally invasive and are used to combat the most deadly form of cancer (lung), surgically access one of the most difficult to reach locations (the skull base), and increase the impact of one of the most underutilized curative treatments available (cochlear implantation). Within and beyond these first three applications, these less invasive, more accurate, information-guided continuum robots improve public health by reducing patient recovery times, infection rates, and treatment costs, and enabling entirely new surgical approaches to diseases that are untreatable (and in many cases terminal) today. The proposed curriculum infuses research results into the classroom, and involves undergraduates, high school girls, and high school teachers which enhances the research while promoting learning. The tactile haptic device increases the accessibility of engineering to the blind. The testbeds enhance the research infrastructure of the PI?s lab, and the haptic devices enhance the educational infrastructure in universities, in high schools, and in schools for the blind.

在医疗机器人领域，这项研究通过启用新的诊断程序，推动了远程机器人和连续体机器人体系结构、模型、传感和控制以及医学科学的发展。对连续体机器人的科学理解正在进入一个令人兴奋的时代，早期暗示恒曲率的假设正在让位于更具描述性的模型，即执行器和外部负载如何结合起来产生可变曲率。将力学理论注入机器人科学提供了一条光明的前进道路。在它自己的领域之外，这也加强了人类对生物学的理解？基于力学的模型提供了对大象鼻子、章鱼触须和其他生物连续体结构如何如此优雅地执行的洞察。这些系统是微创的，用于对抗最致命的癌症(肺癌)，通过手术进入最难到达的位置之一(颅底)，并增加可用的最未得到充分利用的治疗方法之一(人工耳蜗植入)的影响。在前三种应用中，这些侵入性更小、更准确、信息引导的连续体机器人通过减少患者康复时间、感染率和治疗成本来改善公共健康，并实现了治疗当今无法治愈(在许多情况下是晚期)的疾病的全新手术方法。拟议的课程将研究成果注入课堂，并涉及本科生、高中女生和高中教师，这在促进学习的同时加强了研究。触觉触觉装置增加了盲人工程的可及性。试验台加强了皮？S实验室的研究基础设施，触觉设备加强了大学、高中和盲人学校的教育基础设施。