Soft-bodied continuum robots (SCRs) offer a valuable alternative to traditional rigid-link robotic systems due to their ability to operate with enhanced safety within complex, confined environments. These characteristics have led to creation of numerous SCR designs and actuation approaches to suit different clinical applications. An emerging trend in SCR research involves the creation of hybrid or multi-modal designs that seek to combine the favourable features of different actuation approaches to balance, for example, scale, stiffness, and controllability. However, the independent challenges in manufacturing, actuation and control of each SCR type are exacerbated during ‘stick together’ integration approaches, limiting their efficacy.

This PhD project aims to create new approaches for multi-modal SCRs. This will involve developing novel manufacturing strategies to allow directly integrated, hybrid soft actuators through a combination of 3D-printing, direct ink writing and injection moulding techniques. The resulting class of digitally driven designs, customisable in scale, materials composition, actuation modes, and degrees of freedom, will be evaluated to meet the requirements of highly challenging clinical scenarios (e.g. full robotic intubation of the pancreatic duct). Multi-modal SCRs designs will thus seek to deliver precise positioning over large motion ranges, stability for the delivery of tools (e.g. into the pancreatic duct), and integrated sub-mm soft instruments for task execution.

As a PhD candidate working on the project, you will be based in the state-of-the-art STORM lab, alongside numerous staff and students working to delivery impact in surgical application through the use of soft continuum robotics. This will offer excellent access facilities, technical support, and clinical collaborators to conduct your research.