Surgical robots are increasingly becoming an integral part of an operating room to assist surgeons in performing dexterous surgical procedures and improve surgical precision. Research and development of novel and innovative surgical devices have become essential to further the frontiers of knowledge in this field and enable enhanced surgical outcomes. Precise and accurate positioning of tools is a key requirement during the design of a surgical robot, and this often demands design of new mechanisms. This dissertation explores development of two robotic surgical devices to improve the current surgical procedure of an osteochondral autograft transplantation and transperineal prostate biopsy needle insertion. We design and develop a robotically assisted novel graft removal mechanism to harvest a personalized autologous graft of any shape and size for osteochondral autograft transplantation. To provide robotic precision, greater access, and compact design, we design and develop a robotic mechanism that can provide four Degrees of Freedom manipulation in a compact form comparable to size of manual templates for transperineal prostate biopsy.
| Identifer | oai:union.ndltd.org:ucf.edu/oai:stars.library.ucf.edu:etd2020-2900 |
| Date | 01 January 2022 |
| Creators | Biswas, Pradipta |
| Publisher | STARS |
| Source Sets | University of Central Florida |
| Language | English |
| Detected Language | English |
| Type | text |
| Format | application/pdf |
| Source | Electronic Theses and Dissertations, 2020- |
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