{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/107843"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/107843","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Design and development of systems and methods for interventional surgical robot","abstract":"Interventional procedures are used for diagnosis and/or treatment that involves entry into the body through incision or puncture. Endovascular procedure using guidewire/catheter and needle biopsy procedures are two common surgeries that are performed interventionally using image guidance. Inadequate visual and force feedback, while navigating surgical tools during endovascular (guidewire/catheter) procedures, elevates the risk of surgical error. Further, long-term exposure to x-ray and radiation is a potential occupational hazard for health care providers. Current endovascular robotic systems have helped in reducing the exposure of radiation while improving the precision with which the devices can be placed inside the body. However, the current systems do not provide accurate force feedback or utilize a surgeon’s intuitive surgical skills during manipulation from the master console. Needle biopsy procedures are most frequently performed in hospitals for fluid extractions, biopsies, diagnosis, therapies, and surgeries. Researchers have attempted to model needle insertion into soft tissue using mathematical modeling, yet, wide variability in human anatomy and complexity of access have not been implemented. The goal of this dissertation is to improve two interventional surgical procedures. (i) Endovascular robotic procedures: a novel endovascular robotic system with teleoperation control is designed and developed to addresses two issue; overcome the barrier of transferring surgical skills on a robotic console and; overcome lack of realistic force estimation and feedback mechanism in the robot surgical systems with passive surgical tools, (ii) Needle biopsy procedures: research work focuses on an intelligent robotic system to assist with breast biopsy procedures using; a new 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.","abstract_html":"Interventional procedures are used for diagnosis and/or treatment that involves entry into the body through incision or puncture. Endovascular procedure using guidewire/catheter and needle biopsy procedures are two common surgeries that are performed interventionally using image guidance. Inadequate visual and force feedback, while navigating surgical tools during endovascular (guidewire/catheter) procedures, elevates the risk of surgical error. Further, long-term exposure to x-ray and radiation is a potential occupational hazard for health care providers. Current endovascular robotic systems have helped in reducing the exposure of radiation while improving the precision with which the devices can be placed inside the body. However, the current systems do not provide accurate force feedback or utilize a surgeon’s intuitive surgical skills during manipulation from the master console. Needle biopsy procedures are most frequently performed in hospitals for fluid extractions, biopsies, diagnosis, therapies, and surgeries. Researchers have attempted to model needle insertion into soft tissue using mathematical modeling, yet, wide variability in human anatomy and complexity of access have not been implemented. The goal of this dissertation is to improve two interventional surgical procedures. (i) Endovascular robotic procedures: a novel endovascular robotic system with teleoperation control is designed and developed to addresses two issue; overcome the barrier of transferring surgical skills on a robotic console and; overcome lack of realistic force estimation and feedback mechanism in the robot surgical systems with passive surgical tools, (ii) Needle biopsy procedures: research work focuses on an intelligent robotic system to assist with breast biopsy procedures using; a new 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.","abstract_has_math":false,"creators":["Sankaran, Naveen Kumar"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"Ph.D.","degree_level":"Dissertation","degree_discipline":"Systems & Entrepreneurial Engr","degree_department":null,"school":null,"contributors":["Kesavadas, Thenkurussi","Sreenivas, Ramavarapu S","Ferreira, Placid Mathew","Krishnan, Girish"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2020,"date_issued":"2020-08-26T21:53:54Z","date_published":"2020-08-26T21:53:54Z","updated_at":"2026-07-22T22:24:47Z","subjects":["Medical robotics, Intelligent robotic system"],"languages":["en"],"rights":["Copyright 2020 Naveen Kumar Sankaran"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/2142/107843","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Kesavadas, Thenkurussi","Sreenivas, Ramavarapu S","Ferreira, Placid Mathew","Krishnan, Girish"]},{"key":"dc:creator","label":"Author","values":["Sankaran, Naveen Kumar"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2020-08-26T21:53:54Z","2020-01-13","2020-05"]},{"key":"dc:type","label":"Dc Type","values":["text","Thesis"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Systems & Entrepreneurial Engr"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Dissertation"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Ph.D."]},{"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":["Medical robotics, Intelligent robotic system"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2020 Naveen Kumar Sankaran"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/107843"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Interventional procedures are used for diagnosis and/or treatment that involves entry into the body through incision or puncture. Endovascular procedure using guidewire/catheter and needle biopsy procedures are two common surgeries that are performed interventionally using image guidance. Inadequate visual and force feedback, while navigating surgical tools during endovascular (guidewire/catheter) procedures, elevates the risk of surgical error. Further, long-term exposure to x-ray and radiation is a potential occupational hazard for health care providers. Current endovascular robotic systems have helped in reducing the exposure of radiation while improving the precision with which the devices can be placed inside the body. However, the current systems do not provide accurate force feedback or utilize a surgeon’s intuitive surgical skills during manipulation from the master console. Needle biopsy procedures are most frequently performed in hospitals for fluid extractions, biopsies, diagnosis, therapies, and surgeries. Researchers have attempted to model needle insertion into soft tissue using mathematical modeling, yet, wide variability in human anatomy and complexity of access have not been implemented. The goal of this dissertation is to improve two interventional surgical procedures. (i) Endovascular robotic procedures: a novel endovascular robotic system with teleoperation control is designed and developed to addresses two issue; overcome the barrier of transferring surgical skills on a robotic console and; overcome lack of realistic force estimation and feedback mechanism in the robot surgical systems with passive surgical tools, (ii) Needle biopsy procedures: research work focuses on an intelligent robotic system to assist with breast biopsy procedures using; a new 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.","Submission original under an indefinite embargo labeled 'Open Access'. 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Researchers have attempted to model needle insertion into soft tissue using mathematical modeling, yet, wide variability in human anatomy and complexity of access have not been implemented. The goal of this dissertation is to improve two interventional surgical procedures. (i) Endovascular robotic procedures: a novel endovascular robotic system with teleoperation control is designed and developed to addresses two issue; overcome the barrier of transferring surgical skills on a robotic console and; overcome lack of realistic force estimation and feedback mechanism in the robot surgical systems with passive surgical tools, (ii) Needle biopsy procedures: research work focuses on an intelligent robotic system to assist with breast biopsy procedures using; a new 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.","Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2020-08-25 without embargo terms","The student, Naveen Kumar Sankaran, accepted the attached license on 2020-01-10 at 09:05.","The student, Naveen Kumar Sankaran, submitted this Dissertation for approval on 2020-01-10 at 09:29.","This Dissertation was approved for publication on 2020-01-13 at 10:30.","DSpace SAF Submission Ingestion Package generated from Vireo submission #14846 on 2020-08-25 at 17:03:04","Made available in DSpace on 2020-08-26T21:53:54Z (GMT). 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