Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 17 of 17 for “"Medical Robotics"”.
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Efficient design of precision medical robotics
Medical robotics is increasingly demonstrating the potential to improve patient care through more precise interventions. However, taking inspiration from industrial robotics has often resulted in large, sometimes cumbersome designs, which represent high capital and per procedure expenditures, as …
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Risk-bounded coordination of human-robot teams through concurrent intent recognition and adaptation
… domains, such as home care, manufacturing, and medical robotics. In order to achieve this fluidity, robots must be able to (1) recognize their human teammate's intentions, and (2) automatically adapt to those intentions in an intelligent manner. This thesis makes progress in these areas by …
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Distributed, Stable Topology Control of Multi-Robot Systems with Asymmetric Interactions
… applications such as agricultural autonomy, medical robotics, industrial and commercial automation and, search and rescue. In this thesis, we particularly investigate the behavior of multi-robot systems with respect to stable topology control in asymmetric interaction settings. From …
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Sensors and System Integration for Magnetic Resonance Image (MRI)-Guided and Robot-Assisted Interventions
… surgeries continues to increase in the field of medical robotics. MRI-guided interventions provide pre-/intra-operative MR images and intraoperative manipulations. Robot-assisted surgeries guarantee higher safety and greater dexterity inside the patient’s body. Integration of MRI-guided and …
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Computational Multi-material Inverse Design of Soft Robotic Actuators via Nonlinear Functional Optimization
… over the shape of the robot. Areas such as medical robotics can use the shape control of soft robots to gently treat aneurysms in humans or deliver medicines within the body, among other applications. However, given a known external loading, it is usually not possible to deform a soft robot …
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Optimal Port Placement And Automated Robotic Positioning For Instrumented Laparoscopic Biosensors
… <p>Degree: Doctor of Philosophy</p> <p>Medical biosensors can provide new information during minimally invasive and robotic surgical procedures. However, these biosensors have significant physical limitations that make it difficult to find optimal port locations and place them <em>in …
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An In-Vitro Study of the Temporomandibular Reaction Forces through Motion-Capturing and Robotics
… robots play a key role in the development of the robotics industry. Redundantly actuated parallel robots (RAPRs) can be utilized to both exploit the intrinsic advantages of parallel robots and to overcome their disadvantages such as the abundance of singularities in their limited workspace. Most …
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Design and development of systems and methods for interventional surgical robot
… ultrasound-guided in-situ needle biopsy robotic medical assistance system, and; a robotic system that uses deep learning techniques to provide needle-tissue interaction force parameter for situation awareness during the procedure.
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Design and Control of a Magnetic Hammer Millirobot for Tissue Penetration
Millirobots propelled by magnetic fields show promise for minimally invasive surgery or drug delivery. MRI scanners can generate magnetic gradients to apply propulsive forces on ferromagnetic objects. However, MRI gradient forces are insufficient for tissue penetration. This project presents a …
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Soft Smart Interfaces for Bilateral Teleoperation with Distributed Tactile Haptic Feedback in Remote Medical Palpation
Robotics and teleoperated robotics have been increasingly implemented in the healthcare system in the last two decades. From robotic-assisted minimally invasive surgery to neurosurgery, endoscopy, and remote monitoring of patients at risk, robotic systems have showcased a beyond-human performance, …
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Towards Naturalistic Exoskeleton Glove Control for Rehabilitation and Assistance
This thesis presents both a control scheme for naturalistic control of an exoskeleton glove and a glove design. Exoskeleton development has been focused primarily on design, improving soft actuator and cable-driven systems, with only limited focus on intelligent control. There is a need for control …
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Real-time membrane puncture detection using force sensors for micro-injections in phantoms
Micro-manipulators provide tools for researchers to improve workflow in common preclinical and clinical applications. Following drug delivery injections where drugs did not reach their target will squander research time, experimental animals and other resources. An ultrasound-guided robot developed …
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Development And Human Performance Evaluation Of Control Modes Of An Exo-Skeletal Assistive Robotic Arm (esara)
… <p>Engineering advancements have taken assistive robotics to new dimensions. Technologies such as wheelchair robotics and myo-electronically controlled systems have opened up a wide range of new applications to assist people with physical disabilities. Similarly exo-skeletal limbs and body suits …
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Development and validation of lower- and upper-extremity robotic medical education task trainers for neurologic exams
Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2023-04-12 without embargo terms
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Development of a Three-Dimensional Image-Guided Needle Positioning System for Small Animal Interventions
… finally demonstrated by completing an in vivo biomedical application.
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Safe anatomy-driven tracking for navigation and robotics in medical and surgical procedures
Medical imaging enables clinicians to visualize human anatomy and guide procedures with greater precision. However, existing navigation systems are prohibitively expensive, infrastructure-heavy, and difficult to operate, especially in resource-limited settings. This thesis explores these challenges …