Designing patient specific magnetically actuated tentacle robots for minimally invasive surgery

博士学位的目的是建立一个系统，设计和建造患者特定的毫米级磁致动触角，用于微创手术干预。在整个项目中，为了实现这一目标，我希望以出版材料的形式产生产出。为了实现这些并行目标，我需要彻底了解软机器人设计和操作所涉及的基础科学，特别是我选择的分析方法。理解和介绍（以出版物的形式）这些基础科学可以被认为代表了项目的目标;这些学科类别可以大致概括为：a）传统（硬）机器人建模B）连续介质力学;弹性材料行为需要理解和建模软机器人c）有限元法;数字方法，通过它我可以理解这些软机器人的响应行为d）机器学习和人工神经网络;许多评论家认为这是软机器人建模的未来，重要的是我们（和我）处于这一发展的最前沿。数据收集，特别是图像处理;机器只能从数据中学习，为了使我的计划能够奏效，我需要精通数据收集，从模拟，从图像和任何其他可能可用的方法。

The aim of the PhD is to establish a system to design and build patient specific millimetre scale magnetically actuated tentacles for minimally invasive surgical interventions. Throughout the project and in pursuit of this aim I expect to produce output in the form of published material. In order to achieve these parallel goals I will need a thorough understanding of the underlying science involved in soft robotic design and manipulation and, in particular, my chosen method of analysis. The understanding and presentation of (in the form of publications) these underlying sciences can be considered to represent the objectives of the project;These subject categories can be broadly summarised into; a) traditional (hard) robotic modelling b) continuum mechanics; elastic material behaviour is needed to understand and model soft robots c) the Finite Element Method; the numerical method via which I can understand the response behaviour of those soft robots d) Machine Learning and Artificial Neural Networks; many commentators consider this the future of soft robotic modelling and it is important that we (and I) are at the forefront of this development e) data harvesting, in particular, image processing; machines can only learn from data and, in order that my plans can work, I need to be proficient at data gathering, from simulation, from images and from any other methods that may become available.