Surface Micro-Patterning and Material Design to Enable in vivo Mobility

这项资助的研究目的是阐明微图案表面和软流体涂层基板之间的接触、粘附和摩擦相互作用的基本机制。我们的目标是理解牵引力的产生；关键设计、环境和操作参数的依赖性；以及它对基底力学响应的影响。一个多尺度的建模框架将被用来捕捉大的宏观和微观尺度的变形现象的相互作用，在一个履带车轮在柔软的湿基板上翻滚的过程中，依赖于材料、几何和操作参数。胎面和基材的力学行为将由大变形理论和适当的本构模型来描述。建模和实验的紧密结合将为软湿材料的接触力学提供新的见解，特别是产生摩擦的微观现象和产生牵引力的宏观和微观力学的相互作用。如果成功，这项研究将有助于发现新型的模式架构和概念，并为设计体内机器人设备建立一个关键的知识体系，从而减少患者的创伤，扩大机器人手术。拟议的教育计划将向各个层次的学生，包括那些典型的代表性不足的群体，介绍在微制造、生物力学和机器人技术交叉领域进行的研究所固有的兴奋，以及外科机器人技术领域固有的希望。拟议的教育活动将通过我们进入科罗拉多大学而得到加强。屡获殊荣的综合教与学实验室。

The research objective of this grant is to elucidate the fundamental mechanisms that are responsible for contact, adhesion, and friction interactions between micro-patterned surfaces and soft fluid-coated substrates. The goal is to understand the generation of tractions; its dependence of key design, environmental, and operational parameters; and its impact on the mechanical response of the substrate. A multi-scale modeling framework will be used to capture the interplay of large macro- and micro-scale deformation phenomena during the roll-over of a treaded wheel over a soft wet substrate, in dependence of material, geometric, and operational parameters. The mechanical behavior of tread and substrate will be described by large deformation theories and appropriate constitutive models. The tight integration of modeling and experiments will provide novel insight into the contact mechanics of soft, wet materials, in particular into the microscopic phenomena for generating friction and the interplay of macro- and micro-scale mechanics for generating traction.If successful, this research will facilitate the discovery of new types of patterned architectures and concepts and establish a crucial body of knowledge needed for the design of in vivo robotic devices that can reduce patient trauma and expand robotic surgery. The proposed educational program will introduce students at all levels, including those from typically underrepresented groups, to the excitement inherent in research conducted at the intersection of micro-fabrication, biomechanics, and robotics in general, and to the promise inherent in the world of surgical robotics specifically. The proposed educational activities will be enhanced by our access to the University of Colorado?s Award-winning Integrated Teaching and Learning Laboratory.