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Design of a Compact, Workflow-Oriented Robot for Transbronchial Lung Biopsy

dc.creatorAmack, Stephanie Rae
dc.description.abstractLung cancer is one of the most prevalent and deadly forms of cancer, claiming more than 154,000 lives in the USA per year. Accurate targeting and biopsy of pulmonary abnormalities is key for early diagnosis and successful treatment. Many cancerous lesions originate in the peripheral regions of the lung which are not directly accessible from the bronchial tree, thereby requiring percutaneous approaches to collect biopsies, which carry a higher risk of pneumothorax, hemorrhage, and death in extreme cases. In prior work, our group proposed a concept for accessing the peripheral lung through the airways, through the combination of concentric tube robots and steerable needles. The advancements in this thesis pave the way to bringing the innovative combination of concentric tube robots and steerable needles closer to the operating room, through compact design and ease of tool loading of the robotic actuation unit. We present a new robotic hardware system design, tailored towards smooth integration into current bronchoscopy practices, and present advancements to tool design to increase the effective workspace of steerable needles, crucial to peripheral lung targeting.
dc.subjectsurgical robot
dc.subjectmechanical design
dc.subjectlung cancer
dc.subjecttransbronchial biopsy
dc.subjectflexure tip steerable needle
dc.subjectconcentric tube robot
dc.titleDesign of a Compact, Workflow-Oriented Robot for Transbronchial Lung Biopsy
dc.contributor.committeeMemberDr. Thomas Withrow
dc.contributor.committeeMemberDr. Jason Mitchell
dc.contributor.committeeMemberDr. Eric Barth
dc.type.materialtext Engineering University
dc.contributor.committeeChairDr. Robert Webster III.

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