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Haptics and Instrumentation for Robotic Minimally Invasive Surgery

thesis
posted on 17.05.2022, 03:57 authored by ARMIN EHRAMPOOSH
Minimally invasive mitral valve surgery is an alternative approach to open-heart surgery that has been developed to benefit patients by reducing the incision size required to access the heart. This approach requires dexterous manual and robotic instruments enabling the surgeons to perform the necessary tasks such as suturing. This research has investigated methodologies and established characteristics for manual instruments and robotic surgical systems to enhance suturing task quality and reduce the burden on the surgeon. The experimental results indicated the capabilities of the established methodologies in improving the manual and robotic suturing task performance.

History

Campus location

Australia

Principal supervisor

Bijan Shirinzadeh

Additional supervisor 1

Joshua Benjamin Pinskier

Additional supervisor 2

Yongmin Zhong

Year of Award

2022

Department, School or Centre

Mechanical and Aerospace Engineering

Course

Doctor of Philosophy

Degree Type

DOCTORATE

Faculty

Faculty of Engineering