Highly Dexterous Robotic Insertion Tube for Enhanced Minimally Invasive Surgical Procedures

Topham, Matthew Jory

Highly Dexterous Robotic Insertion Tube for Enhanced Minimally Invasive Surgical Procedures

dc.contributor.advisor	Amrein, Matthias
dc.contributor.advisor	Federico, Salvatore
dc.contributor.author	Topham, Matthew Jory
dc.contributor.committeemember	Willetts, Lian
dc.contributor.committeemember	Betram, John E.A.
dc.date.accessioned	2024-06-27T18:40:59Z
dc.date.available	2024-06-27T18:40:59Z
dc.date.issued	2024-06-24
dc.description.abstract	Current 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.citation	Topham, 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.uri	https://hdl.handle.net/1880/119027
dc.language.iso	en
dc.publisher.faculty	Schulich School of Engineering
dc.publisher.institution	University of Calgary
dc.rights	University 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.subject	surgery
dc.subject	minimally invasive surgery
dc.subject	surgical robotics
dc.subject	endoscopy
dc.subject	laparoscopy
dc.subject	novel technology
dc.subject.classification	Medicine and Surgery
dc.subject.classification	Engineering--Biomedical
dc.title	Highly Dexterous Robotic Insertion Tube for Enhanced Minimally Invasive Surgical Procedures
dc.type	master thesis
thesis.degree.discipline	Engineering – Biomedical
thesis.degree.grantor	University of Calgary
thesis.degree.name	Master of Science (MSc)
ucalgary.thesis.accesssetbystudent	I 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.