Consider a submanifold of $\mathbb{R}^n$ that is homeomorphic to the $(n-1)$-sphere. By the Jordan-Brouwer separation theorem, removing that submanifold from $\mathbb{R}^n$ partitions what remains into two connected components, one of which is bounded. Let $B$ be the bounded component, and let $\overline{B}$ be its closure. Once $n>2$, additional assumptions are needed to ensure that $\overline{B}$ is homeomorphic to the closed $n$-ball, as discussed in the question DMiz.
I originally asked --- or, at least, I intended to ask --- whether requiring $\overline{B}$ to be contractible would imply that it was a closed $n$-ball. In fact, Bing showed that $\overline{B}$ is always contractible; so adding that requirement wouldn't change anything.
Lots of study has gone into this area recently, though mathematicians typically consider topological embeddings of the $(n-1)$-sphere in the $n$-sphere, rather than in $\mathbb{R}^n$, so that the closures of the two components can be studied on an equal footing. Those closures are called "crumpled $n$-cubes", and they can be either closed $n$-balls or "wild". Both of them can be wild. If a crumpled $n$-cube is a manifold-with-boundary, then it is an $n$-ball.
The notes of Andrew Putman that Lee Mosher suggested are helpful, and this posting on MathOverflow has clear explanations and further pointers.