Design, Analysis, and Experimental Study of a Slave Robot for Minimally Invasive Beating Heart Surgery, Ph.D. Dissertation Sharif University of Technology ; Farahmand, Farzam (Supervisor)
Abstract
In this study, a practical approach for robotic beating heart surgery was proposed. This approach eliminates lateral movements of the heart and compensates for normal heart movement by using 1 DOF heart stabilizer and 1 DOF heart compensator simultaneously. It is a compromise between complete fixation of the heart, which damages the heart tissue, on one hand and complex and impractical compensation of the free heart movement on the other. One of the core components of the proposed system is the slave robot, which includes a 1 DOF compensator and a 4 DOF tool holder robot. Based on the selected laparoscopic tool, a modified agile-eye mechanism for activating the wrist was introduced,...
Cataloging briefDesign, Analysis, and Experimental Study of a Slave Robot for Minimally Invasive Beating Heart Surgery, Ph.D. Dissertation Sharif University of Technology ; Farahmand, Farzam (Supervisor)
Abstract
In this study, a practical approach for robotic beating heart surgery was proposed. This approach eliminates lateral movements of the heart and compensates for normal heart movement by using 1 DOF heart stabilizer and 1 DOF heart compensator simultaneously. It is a compromise between complete fixation of the heart, which damages the heart tissue, on one hand and complex and impractical compensation of the free heart movement on the other. One of the core components of the proposed system is the slave robot, which includes a 1 DOF compensator and a 4 DOF tool holder robot. Based on the selected laparoscopic tool, a modified agile-eye mechanism for activating the wrist was introduced,...
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