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Dissertation
Enabling technologies for robotically-assisted sutureless coronary anastomosis
Doctor of Philosophy (Ph.D.), Drexel University
2004
DOI:
https://doi.org/10.17918/00010100
Abstract
Over the past thirty years of technical and surgical evolution, the approach to coronary artery bypass graft (CABG) surgery has remained principally unaltered. The need for cardiopulmonary bypass (CPB) to provide a still and flaccid field carries costs and risks such as systemic inflammatory response, stroke and neurocognitive defects, and cardiac complications such as perioperative myocardial infarction. To eliminate the need for CPB during CABG procedures, this dissertation discusses the development of a robotic system for sutureless coronary anastomosis during an off-pump CABG (OPCABG) procedure. The goal of this work is to present a stationary operative site to the surgeon performing the procedure, while providing both visual and force feedback. Towards achieving that goal, this dissertation presents: (1) a method for force-feedback based on information obtained from the vision system, (2) a model of the Mitsubishi PA-10 robot arm that provides minimal interaction forces during the surgical procedure, and (3) a system for bilateral teleoperation that provides motion-cancellation relative to a moving surface. The experimental results presented in this work verify that vision based techniques combined with the material properties of the membrane can provide a reasonably good estimate of the interaction forces without using a force sensor. Our results further demonstrate that our model of the harmonic drive systems in the Mitsubishi PA-10 robot arm provides reasonable trajectory tracking performance with low feedback gains. Finally, our results lead us to the qualitative conclusion that force-feedback minimizes contact forces in motion-canceling teleoperation due to: (a) minimization of the collision forces with the target surface, and (b) minimization of forces due to accidental contact, by taking advantage of the naturally low impedance of the human hand during fine manipulation tasks.
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Details
- Title
- Enabling technologies for robotically-assisted sutureless coronary anastomosis
- Creators
- Christopher William Kennedy
- Contributors
- Jaydev P. Desai (Advisor) - Drexel University, Drexel University (1970-)
- Awarding Institution
- Drexel University
- Degree Awarded
- Doctor of Philosophy (Ph.D.)
- Publisher
- Drexel University; Philadelphia, Pennsylvania
- Number of pages
- xii, 159 pages
- Resource Type
- Dissertation
- Language
- English
- Academic Unit
- College of Engineering (1970-2026); Drexel University
- Other Identifier
- 991021888741104721