Publication Date
2018
Document Type
Dissertation
Committee Members
Caroline G.L. Cao (Advisor), Cedric Dumas (Committee Member), Zach Fuchs (Committee Member), Thomas Wischgoll (Committee Member), Xinhui Zhang (Committee Member)
Degree Name
Doctor of Philosophy (PhD)
Abstract
Robot-assisted surgery, or "robotic" surgery, has been developed to address the difficulties with the traditional laparoscopic surgery. The da Vinci (Intuitive Surgical, CA and USA) is one of the FDA-approved surgical robotic system which is widely used in the case of abdominal surgeries like hysterectomy and cholecystectomy. The technology includes a system of master and slave tele-manipulators that enhances manipulation precision. However, inadequate guidelines and lack of a human-machine interface system for planning the ports on the abdomen surface are some of the main issues with robotic surgery. Unreachable target and mid-surgery collisions between robotic arms are the major problems that surgeons complain about in robotic surgery. The objective of this research is to design a new decision-support tool for planning port placement in robotic surgery. The decision-support system will be able to determine the optimal location of the entrance ports on the abdomen surface that is specific to the patient.
Page Count
142
Department or Program
Ph.D. in Engineering
Year Degree Awarded
2018
Copyright
Copyright 2018, all rights reserved. My ETD will be available under the "Fair Use" terms of copyright law.
