Year: 2017
Type: dissertation
Abstract: The da VinciÂŽ Surgical System, the worldâ s most prominent form of robotic surgery, provides significant advantages over conventional surgery yet currently it cannot be used for surgical applications involving small operating volumes due to the existing instrument sizes (5-8mm shaft diameter). This research explores the feasibility of creating and accurately controlling a robotic instrument with a 2mm diameter and a three degree-of-freedom wrist. A unique wrist joint composing of a two degree-of-freedom bending notched-nitinol tube pattern is developed along with a proposed kinematic model. A base mechanism for controlling the wrist is designed for integration with the da Vinci Research Kit. A basic teleoperation task is successfully performed using two of the miniature instruments. The performance and accuracy of the instrument suggests that creating and accurately controlling a 2mm diameter instrument is feasible and the design and modelling proposed in this work provides a basis for future miniature instrument development.
Source: TSpace (University of Toronto)
Author: Peter Francis
Language: English
Subfield: Biomedical Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W2778586142