Analysis and control of tendon-sheath actuation mechanism for a novel surgical robotic system

166 p.

Saved in:

Bibliographic Details
Main Author:	Low, Soon Chiang
Other Authors:	Phee Soo Jay, Louis
Format:	Theses and Dissertations
Published:	2011
Subjects:	DRNTU::Engineering::Mechanical engineering::Robots
Online Access:	https://hdl.handle.net/10356/47268
Tags:	Add Tag No Tags, Be the first to tag this record!
Institution:	Nanyang Technological University

id	sg-ntu-dr.10356-47268
record_format	dspace
spelling	sg-ntu-dr.10356-472682023-03-11T17:40:34Z Analysis and control of tendon-sheath actuation mechanism for a novel surgical robotic system Low, Soon Chiang Phee Soo Jay, Louis School of Mechanical and Aerospace Engineering DRNTU::Engineering::Mechanical engineering::Robots 166 p. Current endoscopic tools are inserted along the body of a flexible endoscope to access the tissue of interest in the patient. Actuated manually by wire ropes at the proximal end, the tool is able to perform simple grasping and cutting tasks. However, these tools possess low number of Degrees of Freedom (DOF) and thus lack the dexterity and maneuverability to perform complicated tasks, like retraction and suturing of tissue, which are required in Natural Orifice Transluminal Endoscopic Surgery (NOTES) and Endoscopic Submucosal Dissection (ESD). A multi DOFs master and slave robotic system is therefore envisaged to better assist the endoscopist in performing these complicated procedures. DOCTOR OF PHILOSOPHY (MAE) 2011-12-27T06:48:30Z 2011-12-27T06:48:30Z 2009 2009 Thesis Low, S. C. (2009). Analysis and control of tendon-sheath actuation mechanism for a novel surgical robotic system. Doctoral thesis, Nanyang Technological University, Singapore. https://hdl.handle.net/10356/47268 10.32657/10356/47268 Nanyang Technological University application/pdf
institution	Nanyang Technological University
building	NTU Library
continent	Asia
country	Singapore Singapore
content_provider	NTU Library
collection	DR-NTU
topic	DRNTU::Engineering::Mechanical engineering::Robots
spellingShingle	DRNTU::Engineering::Mechanical engineering::Robots Low, Soon Chiang Analysis and control of tendon-sheath actuation mechanism for a novel surgical robotic system
description	166 p.
author2	Phee Soo Jay, Louis
author_facet	Phee Soo Jay, Louis Low, Soon Chiang
format	Theses and Dissertations
author	Low, Soon Chiang
author_sort	Low, Soon Chiang
title	Analysis and control of tendon-sheath actuation mechanism for a novel surgical robotic system
title_short	Analysis and control of tendon-sheath actuation mechanism for a novel surgical robotic system
title_full	Analysis and control of tendon-sheath actuation mechanism for a novel surgical robotic system
title_fullStr	Analysis and control of tendon-sheath actuation mechanism for a novel surgical robotic system
title_full_unstemmed	Analysis and control of tendon-sheath actuation mechanism for a novel surgical robotic system
title_sort	analysis and control of tendon-sheath actuation mechanism for a novel surgical robotic system
publishDate	2011
url	https://hdl.handle.net/10356/47268
_version_	1761781303417503744

Analysis and control of tendon-sheath actuation mechanism for a novel surgical robotic system

Similar Items