Developing a macro-micro teleoperation system with snake robots for minimally invasive surgeries
|
Andrew Razjigaev Thesis
(PDF 39MB)
Available under License Creative Commons Attribution Non-commercial No Derivatives 4.0. |
Description
Surgeons currently face the burden of poor instrument control, ergonomics and visualisation in minimally invasive surgery. Bioinspired snake-like robots, evolution algorithms, 3D printing and autonomous vision systems are innovations that can revolutionise surgery. It can benefit patients with personalised treatment and reduce the burden on hospital staff. This thesis utilises these innovations to develop a macro-micro robotic platform for knee arthroscopy with a (micro) steerable snake-like end-effector attached to a (macro) RAVEN II arm. Extensive experimentation with a phantom demonstrated the superiority of the robotic prototype in reachable dexterity and teleoperated control over conventional rigid instruments.
Impact and interest:
Citation counts are sourced monthly from Scopus and Web of Science® citation databases.
These databases contain citations from different subsets of available publications and different time periods and thus the citation count from each is usually different. Some works are not in either database and no count is displayed. Scopus includes citations from articles published in 1996 onwards, and Web of Science® generally from 1980 onwards.
Citations counts from the Google Scholar™ indexing service can be viewed at the linked Google Scholar™ search.
Full-text downloads:
Full-text downloads displays the total number of times this work’s files (e.g., a PDF) have been downloaded from QUT ePrints as well as the number of downloads in the previous 365 days. The count includes downloads for all files if a work has more than one.
| ID Code: | 235042 |
|---|---|
| Item Type: | QUT Thesis (PhD) |
| Supervisor: | Pandey, Ajay, Roberts, Jonathan, Crawford, Ross, Wu, Leo, & Howard, David |
| Keywords: | surgical robotics, medical robotics, continuum robots, evolutionary optimisation algorithm, minimally invasive surgery, teleoperation, robotic vision, robotic manipulation, minimally invasive surgery, orthopaedics arthroscopy |
| DOI: | 10.5204/thesis.eprints.235042 |
| Divisions: | Current > QUT Faculties and Divisions > Faculty of Engineering Current > Schools > School of Electrical Engineering & Robotics |
| Institution: | Queensland University of Technology |
| Deposited On: | 09 Sep 2022 04:11 |
| Last Modified: | 09 Sep 2022 04:11 |
Export: EndNote | Dublin Core | BibTeX
Repository Staff Only: item control page