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Title page for ETD etd-07212016-145122


Type of Document Dissertation
Author Swaney, Philip Joseph
URN etd-07212016-145122
Title Design and Modeling of Distal Dexterity Mechanisms for Needle-sized Robots: Systems for Lung and Endonasal Interventions
Degree PhD
Department Mechanical Engineering
Advisory Committee
Advisor Name Title
Robert J. Webster III Committee Chair
Kyle D. Weaver Committee Member
Michael Goldfarb Committee Member
Pietro Valdastri Committee Member
Robert L. Galloway, Jr. Committee Member
Keywords
  • concentric tube robots
  • surgical robotics
  • steerable needles
Date of Defense 2016-06-23
Availability unrestricted
Abstract
Toward improving surgery and patient care, this work presents the development of needle-sized surgical tools and robotic systems that incorporate distal articulation mechanisms. In the human body, there are numerous critical locations that are difficult or impossible to reach safely in a minimally-invasive fashion using existing tools and approaches. In this work, a new articulated steerable needle and miniature wrist are developed for needle-sized tools. Geometry and mechanics inform the design of these articulating devices, and models are developed to predict their behavior. Using these articulating tools, robotic systems are created for the treatment of lung and skull base cancers toward providing minimally-invasive access to these difficult to reach locations in the body.

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