{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/102860"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/102860","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Design, modeling and control of a minimally invasive surgical platform","abstract":"U of I Only Restriction Lifted for Item 109886 on 2021-02-08T10:15:18Z.","abstract_html":"U of I Only Restriction Lifted for Item 109886 on 2021-02-08T10:15:18Z.","abstract_has_math":false,"creators":["Wang, Fanxin"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":["Kesavadas, Thenkurussi","Ferreira, Placid Matthew"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2019,"date_issued":"2019-02-07T20:44:29Z","date_published":"2019-02-07T20:44:29Z","updated_at":"2026-07-22T22:24:42Z","subjects":["single port","laparoscopic surgery","surgical robotic platform","haptic device"],"languages":["en"],"rights":["Copyright 2018 Fanxin Wang"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/2142/102860","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Kesavadas, Thenkurussi","Ferreira, Placid Matthew"]},{"key":"dc:creator","label":"Author","values":["Wang, Fanxin"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2019-02-07T20:44:29Z","2021-02-08T10:15:18Z","2018-12-12","2018-12"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["single port","laparoscopic surgery","surgical robotic platform","haptic device"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2018 Fanxin Wang"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/102860"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["U of I Only Restriction Lifted for Item 109886 on 2021-02-08T10:15:18Z.","Minimally invasive single-site surgery has been shown to reduce the invasiveness of surgery by requiring only one incision to access the abdominal cavity. However, this technique presents the surgeon with unique challenges and requires the development of new robotic platforms and surgical tools. To address these challenges, a 20 mm trocar is designed to guide the serial insertion and assembly of three individual 3D printed, 8 mm, 5+1 degree-of-freedom (DOF) manipulator tools and a standard 8 mm laparoscopic camera through a single port. Each dexterous manipulator is remotely driven by 12 actuation tendons and is composed of rigid links joined by hybrid flexure hinges. For ensuring large transition of the vision scope, a holding frame of the trocar is introduced. The holding frame consists 3 degree-of-freedom (DOF) rotating which enable a pivot point where the incision goes through, and one additional DOF that controls the incision depth. Haptic devices are applied for translating the dexterity of the human arm to both the internal operating field and the external positioning frame.","Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2020-12-01","The student, Fanxin Wang, accepted the attached license on 2018-12-11 at 16:25.","The student, Fanxin Wang, submitted this Thesis for approval on 2018-12-11 at 16:43.","This Thesis was approved for publication on 2018-12-12 at 13:33.","DSpace SAF Submission Ingestion Package generated from Vireo submission #13296 on 2019-02-07 at 14:23:26","Made available in DSpace on 2019-02-07T20:44:29Z (GMT). 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However, this technique presents the surgeon with unique challenges and requires the development of new robotic platforms and surgical tools. To address these challenges, a 20 mm trocar is designed to guide the serial insertion and assembly of three individual 3D printed, 8 mm, 5+1 degree-of-freedom (DOF) manipulator tools and a standard 8 mm laparoscopic camera through a single port. Each dexterous manipulator is remotely driven by 12 actuation tendons and is composed of rigid links joined by hybrid flexure hinges. For ensuring large transition of the vision scope, a holding frame of the trocar is introduced. The holding frame consists 3 degree-of-freedom (DOF) rotating which enable a pivot point where the incision goes through, and one additional DOF that controls the incision depth. Haptic devices are applied for translating the dexterity of the human arm to both the internal operating field and the external positioning frame.","Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2020-12-01","The student, Fanxin Wang, accepted the attached license on 2018-12-11 at 16:25.","The student, Fanxin Wang, submitted this Thesis for approval on 2018-12-11 at 16:43.","This Thesis was approved for publication on 2018-12-12 at 13:33.","DSpace SAF Submission Ingestion Package generated from Vireo submission #13296 on 2019-02-07 at 14:23:26","Made available in DSpace on 2019-02-07T20:44:29Z (GMT). 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