Browsing Electronic Theses and Dissertations by Author "Nabil Simaan"
Now showing items 1-16 of 16
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Liu, Zhangshi (2016-07-27)Department: Mechanical EngineeringThe thesis presents the work on developing wire-actuated wrist for Minimally Invasive Surgery (MIS). The benefits of MIS is to minimize surgical trauma, reduce rate of complications, shorten execution time and accelerate ...
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Dillon, Neal Patrick (2017-01-27)Department: Mechanical EngineeringOtology and neurotology are surgical specialties focusing on the treatment of ear diseases. A key component of many otologic and neurotologic surgical procedures is the removal of a portion of the skull behind the ear to ...
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Gilbert, Hunter Bryant (2016-07-26)Department: Mechanical EngineeringConcentric tube robots are needle-diameter robots consisting of multiple precurved, nested, superelastic tubes. They can be made to controllably elongate and bend by grasping the tubes at their bases and applying axial ...
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Bajo, Andrea (2013-04-18)Department: Mechanical EngineeringNew surgical paradigms such as natural orifice surgery and single port access surgery present technological challenges such as indirect routes of access, constrained workspace, sensory presence, higher degrees of freedom ...
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Sarli, Nima (2018-09-07)Department: Mechanical EngineeringBladder cancer is the 4th leading cancer type in 2018 in the US male population. Staging and treatment of non-muscle-invasive bladder tumors using TURBT (Transurethral Resection of Bladder Tumors) is challenging due to ...
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Lathrop, Ray Adams (2014-02-21)Department: Mechanical EngineeringThis dissertation offers ways that the dexterity and guidance associated with image-guided robotic surgery can be delivered without automation. The overall objective is to provide highly capable instruments to surgeons, ...
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Garbin, Nicolo (2019-02-05)Department: Mechanical EngineeringThe need for medical technologies that improve patient access to diagnostic techniques and treat pathological conditions in a minimally invasive approach is capitalized in this dissertation with the development, characterization, ...
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Kratchman, Louis Beryl (2015-04-10)Department: Mechanical EngineeringImplantable electrodes are used to diagnose and treat a growing list of conditions, including deafness, chronic pain, and neurodegenerative disorders. This dissertation introduces robotic methods to make electrode implantation ...
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Di Natali, Christian (2015-08-06)Department: Mechanical EngineeringOver the last decade, researchers have started exploring the design space of Medical Capsule Robots (MCRs): devices that can operate within the human body performing functionalities such as diagnosing, monitoring, and ...
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Wang, Long (2019-03-22)Department: Mechanical EngineeringContinuum robots can support complex surgical tasks within deep confined spaces of the body. Such paradigms present surgeons with sensory and surgical scene interpretation challenges that diminish situational awareness. ...
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Bhattacharyya, Sam (2011-12-10)Department: Mechanical EngineeringRobot-assisted Minimally Invasive Surgery (MIS) presents patients with the benefits of reduced pain and shortened recovery time at a cost of perception deficiency to surgeons. In contrast to MIS, surgeons manually manipulate ...
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Yu, Haoran (2016-07-25)Department: Mechanical EngineeringRetinal surgery requires surgeons to manipulate delicate structures with very high precision while contending with perception and manipulation challenges due to the limited repertoire of tools available to them. Current ...
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Slawinski, Piotr Robert (2019-07-11)Department: Mechanical EngineeringThe use of magnetic fields for medical robot actuation has been demonstrated for applications in opthamology, otolaryngology, cardiology, and gastroenterology; the latter of which is the clinical focus of this dissertation. ...
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Rucker, Daniel Caleb (2011-10-04)Department: Mechanical EngineeringThis dissertation addresses modeling, control, and sensing with continuum robots. In particular, two continuum robot architectures are studied: (1) concentric-tube designs, and (2) designs actuated by embedded wires, cables, ...
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Bhowmick, Aditya (2014-07-26)Department: Computer ScienceHumans can interact with existing robots/manipulators using either telemanipulation or cooperative manipulation. During telemanipulation the manipulator replicates hand movements of the human controlling a master device. ...
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Pile, Jason Anthony (2015-06-15)Department: Mechanical EngineeringRobot-assisted cochlear implant (CI) surgery is a new research area that emerged in the last decade. The goal of robotic assistance is to improve patient hearing outcomes through improved surgical access and the minimization ...