PhD Studentship in Soft Robotics; Stiffness and position control for flexible soft robotic manipulators

软机器人博士生；

• 批准号: 1918626
• 金额: --
• 依托单位: University College London
• 依托单位国家: 英国
• 项目类别: Studentship
• 财政年份: 2017
• 资助国家: 英国
• 起止时间: 2017 至 无数据
• 项目状态: 已结题
• 来源: https://gtr.ukri.org/projects?ref=studentship-1918626
• 关键词: PhD; Studentship; Soft; Robotics; Stiffness

Robotics has been shown to have a role in minimally invasive surgery with the potential to improve patient outcomes. Currently, there are a number of surgical robotic platforms dominating the market. These systems are multi-arm robotic devices equipped with surgical tools that can be operated remotely via a user input console. However, despite the 'wristed' nature of these instruments, the current robotic platforms utilise rigid or 'straight' instruments. Thus, there remain difficulties in accessing important parts and the full potential of the robotic platform is not exploited.The aim of this project is to develop a new soft, stiffness-controllable robotic manipulator including model-based control methods. The application area is minimally invasive surgery. In particular, highly dexterous procedures create demand for the development of new surgical tools to aid surgeons in their work and subsequently improve patient care.

机器人技术已被证明在微创手术中发挥作用，有可能改善患者的预后。目前，有许多手术机器人平台主导市场。这些系统是配备有手术工具的多臂机器人设备，可以通过用户输入控制台远程操作。然而，尽管这些器械具有“扭曲”性质，但当前的机器人平台使用刚性或“直”器械。因此，仍然有困难，在访问重要的部分和机器人平台的全部潜力没有exploited.The项目的目的是开发一种新的软，刚度可控的机器人机械手，包括基于模型的控制方法。应用领域是微创手术。特别地，高度灵巧的手术产生了对开发新的手术工具的需求，以帮助外科医生工作并随后改善患者护理。