Magnetically-driven Soft Continuum Robots

磁驱动软连续体机器人

• 批准号: 2745060
• 金额: --
• 依托单位: University of Leeds
• 依托单位国家: 英国
• 项目类别: Studentship
• 财政年份: 2022
• 资助国家: 英国
• 起止时间: 2022 至 无数据
• 项目状态: 未结题
• 来源: https://gtr.ukri.org/projects?ref=studentship-2745060
• 关键词: Magnetically; driven; Soft; Continuum; Robots

Magnetically-driven Soft Robots are of increasing interest due to the range of new transformative applications they may enable. Within these are continuum robots which are of particular focus due to their potential to be used within the body to perform diagnostics and treatments. Leading researchers at the University of Leeds are working to research new opportunities to advance these devices through new fabrication processes and novel robotic control methods. This PhD research will focus on modelling and real-time control of magnetically actuated soft robots. These robots may range from self-contained capsule-shape devices for early diagnosis/early treatment of life-threatening diseases to continuum magnetic tentacles specifically magnetised to navigate through specific anatomical routes to deliver therapy. This work will include the investigation of modelling approaches to magnetic manipulation, and the exploration of different solutions for generating the external actuation field and field gradient, ranging from permanent magnets mounted at the end effector of robotic manipulators to coil-based system such as Magnetic Resonance Imaging (MRI) scanners. It is expected the PhD research will make contributions to the modelling and control of magnetic robots with specialised areas of study that may include (but not exclusive to): - Analytical and numerical modelling approaches to magnetic manipulation- Intelligent generation of controlling magnetic fields and field gradients- Real-time localization of soft robots- Closed-loop control of intra-corporeal magnetic medical robots- Associated validation in realistic models

磁驱动软机器人由于其可能实现的一系列新的变革性应用而越来越受到关注。在这些机器人中，连续体机器人由于其在体内用于进行诊断和治疗的潜力而受到特别关注。利兹大学的主要研究人员正在努力研究新的机会，通过新的制造工艺和新的机器人控制方法来推进这些设备。该博士研究将专注于磁驱动软机器人的建模和实时控制。这些机器人的范围可以从用于早期诊断/早期治疗危及生命的疾病的独立胶囊状设备到专门磁化的连续磁性触角，以通过特定的解剖路径进行导航以提供治疗。这项工作将包括磁操纵的建模方法的调查，并探索不同的解决方案，用于产生外部驱动场和场梯度，从安装在机器人操纵器的末端执行器的永磁体到基于线圈的系统，如磁共振成像（MRI）扫描仪。预计博士研究将为磁性机器人的建模和控制做出贡献，其专业研究领域可能包括（但不限于）：- 磁操纵的分析和数值建模方法-控制磁场和场梯度的智能生成-软机器人的实时定位-皮质内磁性医疗机器人的闭环控制-真实模型中的关联验证