Highly Dexterous Robotic Insertion Tube for Enhanced Minimally Invasive Surgical Procedures

dc.contributor.advisorAmrein, Matthias
dc.contributor.advisorFederico, Salvatore
dc.contributor.authorTopham, Matthew Jory
dc.contributor.committeememberWilletts, Lian
dc.contributor.committeememberBetram, John E.A.
dc.date.accessioned2024-06-27T18:40:59Z
dc.date.available2024-06-27T18:40:59Z
dc.date.issued2024-06-24
dc.description.abstractCurrent surgical robotic and endoscopic systems permit minimally invasive access to numerous anatomical sites and have demonstrated many benefits by improving diagnostic capabilities, patient outcomes, and treatment efficiency. These advances are not without limitations, as current systems are designed for access to a narrow range of anatomical sites through the requirement of specific sites of entry (natural conduits or straight-line access) and minimal dexterity. Here, I propose to greatly broaden the capabilities of surgical robotic systems through the creation of a highly dexterous and discretely configurable robotic insertion tube for enhanced minimally invasive surgical procedures. A priority of this system, which I term Serpento, is usability in small settings, including remote and rural communities. As such, this system is designed to be cost-effective and suited for mass production. The ability to assume a vast number of discrete and defined configurations allows Serpento to provide access to currently inaccessible tissue and travel independently of natural conduits (i.e. the colon). At its core, the robotic insertion tube underlying Serpento is comprised of a sequence of several hundred ring components, that are each individually addressable teeter-totter mechanisms. The unique structure, formed by the assembly of these components, improves the maneuverability of the system, which allows it to precisely follow complex access paths. Furthermore, a central channel may contain tubes for suction, for example, or to allow for the advancement of tools as seen in current endoscopes. Serpento has become a tangible possibility through computer-aided design (CAD), 3D printing, and assistance by Dr. Matthias Amrein and Dr. Salvatore Federico. Ultimately, the innovative work behind Serpento has demonstrated promising results, laying the foundation for its advancement from a conceptual design to a feasible technology.
dc.identifier.citationTopham, M. J. (2024). Highly dexterous robotic insertion tube for enhanced minimally invasive surgical procedures (Master's thesis, University of Calgary, Calgary, Canada). Retrieved from https://prism.ucalgary.ca.
dc.identifier.urihttps://hdl.handle.net/1880/119027
dc.identifier.urihttps://doi.org/10.11575/PRISM/46623
dc.language.isoen
dc.publisher.facultySchulich School of Engineering
dc.publisher.institutionUniversity of Calgary
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.
dc.subjectsurgery
dc.subjectminimally invasive surgery
dc.subjectsurgical robotics
dc.subjectendoscopy
dc.subjectlaparoscopy
dc.subjectnovel technology
dc.subject.classificationMedicine and Surgery
dc.subject.classificationEngineering--Biomedical
dc.titleHighly Dexterous Robotic Insertion Tube for Enhanced Minimally Invasive Surgical Procedures
dc.typemaster thesis
thesis.degree.disciplineEngineering – Biomedical
thesis.degree.grantorUniversity of Calgary
thesis.degree.nameMaster of Science (MSc)
ucalgary.thesis.accesssetbystudentI require a thesis withhold – I need to delay the release of my thesis due to a patent application, and other reasons outlined in the link above. I have/will need to submit a thesis withhold application.
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