Publication Date


Document Type


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)


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


Department or Program

Ph.D. in Engineering

Year Degree Awarded


Included in

Engineering Commons