Browsing by Author "Nabil Simaan"

Now showing items 1-16 of 16

    • Analysis and Modeling of Wire-actuated Wrist with a Universal Joint 
      Liu, Zhangshi (2016-07-27)
      Department: Mechanical Engineering
      The thesis presents the work on developing wire-actuated wrist for Minimally Invasive Surgery (MIS). The benefits of MIS is to minimize surgical trauma, reduce rate of complications, shorten execution time and accelerate ...
    • Analysis, Design, and Modeling of Image-Guided Robotic Systems for Otologic Surgery 
      Dillon, Neal Patrick (2017-01-27)
      Department: Mechanical Engineering
      Otology and neurotology are surgical specialties focusing on the treatment of ear diseases. A key component of many otologic and neurotologic surgical procedures is the removal of a portion of the skull behind the ear to ...
    • Concentric Tube Robots: Design, Deployment, and Stability 
      Gilbert, Hunter Bryant (2016-07-26)
      Department: Mechanical Engineering
      Concentric tube robots are needle-diameter robots consisting of multiple precurved, nested, superelastic tubes. They can be made to controllably elongate and bend by grasping the tubes at their bases and applying axial ...
    • Control, Sensing, and Telemanipulation of Surgical Continuum Robots 
      Bajo, Andrea (2013-04-18)
      Department: Mechanical Engineering
      New surgical paradigms such as natural orifice surgery and single port access surgery present technological challenges such as indirect routes of access, constrained workspace, sensory presence, higher degrees of freedom ...
    • Design, Modeling and Control of Continuum Robots and Dexterous Wrists with Applications to Transurethral Bladder Cancer Resection 
      Sarli, Nima (2018-09-07)
      Department: Mechanical Engineering
      Bladder cancer is the 4th leading cancer type in 2018 in the US male population. Staging and treatment of non-muscle-invasive bladder tumors using TURBT (Transurethral Resection of Bladder Tumors) is challenging due to ...
    • Dexterity and Guidance Without Automation: Surgical Robot-Like Capabilities at a Fraction of the Cost 
      Lathrop, Ray Adams (2014-02-21)
      Department: Mechanical Engineering
      This dissertation offers ways that the dexterity and guidance associated with image-guided robotic surgery can be delivered without automation. The overall objective is to provide highly capable instruments to surgeons, ...
    • Endoscopic and magnetic actuation for miniature lifesaving devices 
      Garbin, Nicolo (2019-02-05)
      Department: Mechanical Engineering
      The need for medical technologies that improve patient access to diagnostic techniques and treat pathological conditions in a minimally invasive approach is capitalized in this dissertation with the development, characterization, ...
    • Image-Guided Targeting and Control of Implantable Electrodes 
      Kratchman, Louis Beryl (2015-04-10)
      Department: Mechanical Engineering
      Implantable electrodes are used to diagnose and treat a growing list of conditions, including deafness, chronic pain, and neurodegenerative disorders. This dissertation introduces robotic methods to make electrode implantation ...
    • Magnetic Medical Capsule Robots 
      Di Natali, Christian (2015-08-06)
      Department: Mechanical Engineering
      Over the last decade, researchers have started exploring the design space of Medical Capsule Robots (MCRs): devices that can operate within the human body performing functionalities such as diagnosing, monitoring, and ...
    • Modeling, Calibration, and Intelligently-assisted Telemanipulation of Surgical Continuum Robots 
      Wang, Long (2019-03-22)
      Department: Mechanical Engineering
      Continuum robots can support complex surgical tasks within deep confined spaces of the body. Such paradigms present surgeons with sensory and surgical scene interpretation challenges that diminish situational awareness. ...
    • Motion Planning and Constraint Exploration for Robotic Surgery 
      Bhattacharyya, Sam (2011-12-10)
      Department: Mechanical Engineering
      Robot-assisted Minimally Invasive Surgery (MIS) presents patients with the benefits of reduced pain and shortened recovery time at a cost of perception deficiency to surgeons. In contrast to MIS, surgeons manually manipulate ...
    • OCT Guided Micro-Vascular Robotic Surgery: Design, Calibration and Telemanipulation 
      Yu, Haoran (2016-07-25)
      Department: Mechanical Engineering
      Retinal surgery requires surgeons to manipulate delicate structures with very high precision while contending with perception and manipulation challenges due to the limited repertoire of tools available to them. Current ...
    • On the Magnetic Control of Endoscopic Robots 
      Slawinski, Piotr Robert (2019-07-11)
      Department: Mechanical Engineering
      The use of magnetic fields for medical robot actuation has been demonstrated for applications in opthamology, otolaryngology, cardiology, and gastroenterology; the latter of which is the clinical focus of this dissertation. ...
    • The mechanics of continuum robots: model-based sensing and control 
      Rucker, Daniel Caleb (2011-10-04)
      Department: Mechanical Engineering
      This dissertation addresses modeling, control, and sensing with continuum robots. In particular, two continuum robot architectures are studied: (1) concentric-tube designs, and (2) designs actuated by embedded wires, cables, ...
    • User-Specified Virtual Fixtures for Augmenting Human-Robot Interaction 
      Bhowmick, Aditya (2014-07-26)
      Department: Computer Science
      Humans can interact with existing robots/manipulators using either telemanipulation or cooperative manipulation. During telemanipulation the manipulator replicates hand movements of the human controlling a master device. ...
    • Wire-Actuated Parallel Robots for Cochlear Implantation with In-vivo Sensory Feedback 
      Pile, Jason Anthony (2015-06-15)
      Department: Mechanical Engineering
      Robot-assisted cochlear implant (CI) surgery is a new research area that emerged in the last decade. The goal of robotic assistance is to improve patient hearing outcomes through improved surgical access and the minimization ...