The design and fabrication of a meso scale minimally invasive surgical robot
Toombs, Nicholas Joseph
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https://hdl.handle.net/2142/100413
Description
Title
The design and fabrication of a meso scale minimally invasive surgical robot
Author(s)
Toombs, Nicholas Joseph
Issue Date
2016-12-09
Director of Research (if dissertation) or Advisor (if thesis)
Ferreira, Placid M.
Department of Study
Mechanical Sci & Engineering
Discipline
Mechanical Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
M.S.
Degree Level
Thesis
Keyword(s)
single port, laparoscopic surgery, surgical robot, haptic device
Abstract
Minimally invasive robotic Single Port Laparoscopic Surgery (SPLS) is of high importance, due to its ability to reduce operation times, recovery times, postoperative infection rates and improve cosmesis while providing surgeons with greater dexterity and precision than traditional SPLS techniques. Previous approaches to robotic SPLS rely on modifications to devices meant for multi-port procedures. These approaches suffer from larger port sizes and triangulation problems. Here, we propose a scheme for SPLS involving 6 degree-of-freedom robot manipulators and lumen design that translates the dexterity and triangulation capabilities of the human arm to the internal operating field using an insertion scheme where four 9 mm tools can be passed through a single 18 mm lumen.
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