A Multi-Purpose Continuum Robot for Minimally Invasive Surgery

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dc.contributor.advisorSutherland, Garnette
dc.contributor.advisorTavakoli, Mahdi
dc.contributor.authorEsfandiari, Mojtaba
dc.contributor.committeememberWestwick, David
dc.contributor.committeememberGoldsmith, Peter
dc.date2023-06
dc.date.accessioned2023-02-02T16:57:59Z
dc.date.available2023-02-02T16:57:59Z
dc.date.issued2023-01-25
dc.description.abstractThis thesis is about ''A Multi-Purpose Continuum Robot for Minimally Invasive surgery'' which consists of five chapters. It starts with an Introduction and Literature Review that studies some of the most famous surgical robotic systems and analyses their pros and cons. Chapter two has to do with the problem statement and challenges that need to be addressed while designing our specific surgical tool, and a CAD design of a flexible continuum robot will be done for our brain surgery application. In chapter three, the kinematic modeling of the proposed robot is analyzed by a new model based on the Euler spirals and the results are compared with conventional constant curvature models. In chapter four, a model predictive control algorithm is proposed that considers the input saturation constraints on robot actuators. Finally, a discussion and conclusion will be provided in chapter five.en_US
dc.identifier.citationEsfandiari, M. (2023). A multi-purpose continuum robot for minimally invasive surgery (Master's thesis, University of Calgary, Calgary, Canada). Retrieved from https://prism.ucalgary.ca.en_US
dc.identifier.urihttp://hdl.handle.net/1880/115803
dc.identifier.urihttps://dx.doi.org/10.11575/PRISM/40708
dc.language.isoengen_US
dc.publisher.facultySchulich School of Engineeringen_US
dc.publisher.institutionUniversity of Calgaryen
dc.rightsUniversity of Calgary graduate students retain copyright ownership and moral rights for their thesis. You may use this material in any way that is permitted by the Copyright Act or through licensing that has been assigned to the document. For uses that are not allowable under copyright legislation or licensing, you are required to seek permission.en_US
dc.subjectMedical Roboticsen_US
dc.subjectContinuum Robotsen_US
dc.subjectModel Predictive Controlen_US
dc.subject.classificationEngineering--Biomedicalen_US
dc.subject.classificationEngineering--Mechanicalen_US
dc.subject.classificationRoboticsen_US
dc.titleA Multi-Purpose Continuum Robot for Minimally Invasive Surgeryen_US
dc.typemaster thesisen_US
thesis.degree.disciplineEngineering – Biomedicalen_US
thesis.degree.grantorUniversity of Calgaryen_US
thesis.degree.nameMaster of Science (MSc)en_US
ucalgary.item.requestcopytrueen_US
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