Continuum Robots for Multi-Scale Manipulation

该项目将展示一种能够进行多尺度操作的新型连续体机器人，即能够以毫米级精度实现大运动，并以微米级精度实现小运动。现有的机器人通常只能在单一的操作长度范围内正常工作。设想中的机器人将在穿越宏观蜿蜒路径进入手术部位时提供微精度，从而实现微外科手术的新技术，例如基于图像的活检（高分辨率组织检查）和深度外科领域的微外科手术。潜在的好处包括精确的组织重建和完全的手术根除肿瘤。这种机器人还将为微制造提供新的能力，从而大大改善在大型基板上批量生产的微流体和微机电设备的质量控制检测方法。本研究的目标是基于平衡调制的概念，为新型并联连续体机器人的多尺度操作提供建模和控制框架。这些机器人将通过直接驱动其连杆来实现宏观（毫米尺度）精度的大工作空间，通过间接驱动来扰动连续体机器人的平衡姿态来实现微小（微米尺度）的运动。这个概念不同于现有的多尺度操作方法，它提供了一个能够同时进行微观和宏观操作的机器人架构。建模方法将提供一个支持校准、系统识别和控制的公式。该项目将使用直接变分方法对这些机器人的静力学和运动学进行建模，并使用支持向量回归器进行微运动建模和参数识别框架，以克服摩擦和参数不确定性。光学相干断层扫描（OCT）作为显微检查的手段，使用混合关节空间和OCT反馈的控制反馈方法将用于实现目标检查部位的半自动扫描。

This project will demonstrate a new class of continuum robots capable of multi-scale manipulation, that is, the ability to achieve large motion with millimetric precision and to achieve small motion with micrometer-scale precision. Existing robots are typically designed to function properly only at a single operational length scale. The envisioned class of robots will provide micro-precision while traversing macroscale sinuous pathways to access the operational site, thus enabling new technologies for micro-surgery, such as image-based biopsy (high resolution tissue inspection), and micro-surgery in deep surgical fields. Potential benefits include precise tissue reconstruction and complete surgical eradication of tumors. Such robots will also enable new abilities for micro-manufacturing, leading to greatly improved quality-control inspection methods for micro-fluidic and microelectromechanical devices mass-manufactured on large substrates.The goal of this research is to provide modeling and control frameworks for new types of parallel continuum robots for multi-scale manipulation, based on the concept of equilibrium modulation. These robots will use direct actuation of their links to achieve large workspace with macro (millimetric scale) precision and indirect-actuation to perturb the equilibrium pose of the continuum robot to achieve minute (micrometer scale) motions. This concept differs from existing approaches for multi-scale manipulation by offering one robotic architecture capable of both micro and macro manipulation. The modeling approach will provide a formulation supporting calibration, system identification and control. This project will use a direct variational approach for modeling the statics and kinematics of these robots, and a framework for micro-motion modeling and parameter identification using support vector regressors to overcome friction and parameter uncertainties. Optical coherence tomography (OCT) as a means for micro-inspection, and control feedback approaches using mixed joint-space and OCT feedback will be used to enable semi-automated scans of the target inspection site.