Minimally invasive surgery (MIS) is a modern approach to intracorporeal surgical procedures requiring the least size, and number of incisions through the epidermal layer of the skin. Patients prefer MIS on account of the relatively faster recovery time and short hospital stay associated with it. Recent advances in MIS have led to the development of robotic systems geared towards increasing the ease of performance of these surgical procedures, but their costs are prohibitively high, associated control systems are too complicated, and they are bugged down with location-related complications too. The goal of this thesis is to minimize these complications and costs. A teleoperation system capable of sensing changing coordinates and orientations of a generic industrial robot is conceptualized, designed, and implemented. This design will have wide and varied applications to other robotic applications besides surgery, in minimizing the complications associated with control.
|Commitee:||Gorlewicz, Jenna, Karacal, S. Cem|
|School:||Southern Illinois University at Edwardsville|
|Department:||Mechanical and Industrial Engineering|
|School Location:||United States -- Illinois|
|Source:||MAI 53/02M(E), Masters Abstracts International|
|Subjects:||Biomedical engineering, Robotics|
|Keywords:||Da vinci surgical system, IRB140, Robotic surgery, Teleoperation|
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