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Cable-driven parallel mechanisms for minimally invasive robotic surgery

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OudeVrielink-T-2019-PhD-Thesis.pdfThesis16.97 MBAdobe PDFView/Open
Title: Cable-driven parallel mechanisms for minimally invasive robotic surgery
Authors: Oude Vrielink, Timo Joric Corman
Item Type: Thesis or dissertation
Abstract: Minimally invasive surgery (MIS) has revolutionised surgery by providing faster recovery times, less post-operative complications, improved cosmesis and reduced pain for the patient. Surgical robotics are used to further decrease the invasiveness of procedures, by using yet smaller and fewer incisions or using natural orifices as entry point. However, many robotic systems still suffer from technical challenges such as sufficient instrument dexterity and payloads, leading to limited adoption in clinical practice. Cable-driven parallel mechanisms (CDPMs) have unique properties, which can be used to overcome existing challenges in surgical robotics. These beneficial properties include high end-effector payloads, efficient force transmission and a large configurable instrument workspace. However, the use of CDPMs in MIS is largely unexplored. This research presents the first structured exploration of CDPMs for MIS and demonstrates the potential of this type of mechanism through the development of multiple prototypes: the ESD CYCLOPS, CDAQS, SIMPLE, neuroCYCLOPS and microCYCLOPS. One key challenge for MIS is the access method used to introduce CDPMs into the body. Three different access methods are presented by the prototypes. By focusing on the minimally invasive access method in which CDPMs are introduced into the body, the thesis provides a framework, which can be used by researchers, engineers and clinicians to identify future opportunities of CDPMs in MIS. Additionally, through user studies and pre-clinical studies, these prototypes demonstrate that this type of mechanism has several key advantages for surgical applications in which haptic feedback, safe automation or a high payload are required. These advantages, combined with the different access methods, demonstrate that CDPMs can have a key role in the advancement of MIS technology.
Content Version: Open Access
Issue Date: Jan-2019
Date Awarded: Jun-2019
URI: http://hdl.handle.net/10044/1/79835
DOI: https://doi.org/10.25560/79835
Copyright Statement: Creative Commons Attribution NonCommercial Licence
Supervisor: Mylonas, George
Darzi, Ara
Sponsor/Funder: ERANDA Rothschild Foundation
Department: Department of Surgery & Cancer
Publisher: Imperial College London
Qualification Level: Doctoral
Qualification Name: Doctor of Philosophy (PhD)
Appears in Collections:Department of Surgery and Cancer PhD Theses