Design and control of soft continuum magnetic robots for surgical applications

本博士研究将集中在磁力驱动软机器人的建模和实时控制方面。这些机器人的范围可能从用于早期诊断/早期治疗危及生命的疾病的自给式胶囊状设备，到专门用于在特定解剖路线中导航以提供治疗的连续磁触手。这项工作将包括研究磁操作的建模方法，以及探索产生外部激励场和场梯度的不同解决方案，从安装在机器人末端执行器的永久磁铁到基于线圈的系统，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，其专门研究领域可能包括(但不限于)：-磁性操作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-体内磁性医疗机器人的闭环控制-现实模型中的关联验证学生将加入在利兹大学(http://stormlabuk.com/)，)医学机器人科学和技术(STORM)实验室进行的多学科研究在那里，我们努力通过创造微型和非侵入性机器人来提高接受软组织手术和灵活内窥镜检查的人的生活质量。在STORM实验室，我们正在设计和创造柔软和兼容的机器人设备，用于人体特定区域内，以非侵入性方式检测和治疗疾病。从我们实验室毕业的学生目前在苹果和直觉外科等全球技术创新领域的领先企业工作，或者继续在医疗机器人领域的领先团队中进行研究。

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 modelsThe student will join the multi-disciplinary research carried on at the Science and Technology of Robotics in Medicine (STORM) Lab at the University of Leeds (http://stormlabuk.com/), where we strive to improve the quality of life for people undergoing soft-tissue surgery and flexible endoscopy by creating miniature and non-invasive robots. At the STORM Lab, we are designing and creating soft and compliant robotic devices to be used inside specific districts of the human body to detect and cure diseases in a non-invasive way. Students graduated from our lab currently work for worldwide leaders in technological innovation such as Apple and Intuitive Surgical, or continue research in leading groups in the field of medical robotics.