The design and fabrication of a meso scale minimally invasive surgical robot

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.

Name thesis:degree_name

M.S.

Level thesis:degree_level

Thesis

Discipline thesis:degree_discipline

Mechanical Engineering

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2018

Author dc:creator

• Toombs, Nicholas Joseph

Contributors dc:contributor

• Ferreira, Placid M.

• single port, laparoscopic surgery, surgical robot, haptic device

Statement dc:rights

• Copyright 2016 Nicholas Toombs

Language dc:language

en

Handle dc:identifier

http://hdl.handle.net/2142/100413

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/100413