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Towards Robotic Cleft Palate Repair:...

Wu, Gloria Chuk Yan.

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Towards Robotic Cleft Palate Repair: Development and Characterization of a 3 mm Wrist for the da Vinci Surgical System.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Towards Robotic Cleft Palate Repair: Development and Characterization of a 3 mm Wrist for the da Vinci Surgical System./
作者:	Wu, Gloria Chuk Yan.
出版者:	Ann Arbor : ProQuest Dissertations & Theses, : 2019,
面頁冊數:	110 p.
附註:	Source: Masters Abstracts International, Volume: 81-06.
Contained By:	Masters Abstracts International81-06.
標題:	Biomedical engineering. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=27541214
ISBN:	9781392398258

Towards Robotic Cleft Palate Repair: Development and Characterization of a 3 mm Wrist for the da Vinci Surgical System.
Wu, Gloria Chuk Yan.

Towards Robotic Cleft Palate Repair: Development and Characterization of a 3 mm Wrist for the da Vinci Surgical System. - Ann Arbor : ProQuest Dissertations & Theses, 2019 - 110 p.

Source: Masters Abstracts International, Volume: 81-06.

Thesis (M.A.S.)--University of Toronto (Canada), 2019.

This item must not be sold to any third party vendors.

Surgeons are interested in developing a robotic approach for cleft palate repair to improve outcomes and ergonomics for surgery in the infant oral cavity. However, the current instruments are too large for the workspace. The aim of this thesis was to develop a novel 2-degree-of freedom wrist with cable guide channels as a 3 mm diameter instrument for use with the da Vinci Surgical System. Specifically, a cam mechanism was built to solve the cable slack issue inherent to the novel wrist design. When evaluating motion accuracy, the mean error of moving in the same direction was found to be less than one degree, while the hysteresis resulted in an average error of 14 degrees when switching directions. Finally, proof of concept was demonstrated by using the instrument to suture silicone in a medicine cup, verifying that it is able to perform complex tasks and can apply sufficient forces, despite the hysteresis.

ISBN: 9781392398258Subjects--Topical Terms:

535387
Biomedical engineering.
Subjects--Index Terms:

cable guide channels

Towards Robotic Cleft Palate Repair: Development and Characterization of a 3 mm Wrist for the da Vinci Surgical System.
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