Sutherland, GarnetteTavakoli, MahdiEsfandiari, Mojtaba2023-02-022023-02-022023-01-25Esfandiari, M. (2023). A multi-purpose continuum robot for minimally invasive surgery (Master's thesis, University of Calgary, Calgary, Canada). Retrieved from https://prism.ucalgary.ca.http://hdl.handle.net/1880/115803https://dx.doi.org/10.11575/PRISM/40708This thesis is about ''A Multi-Purpose Continuum Robot for Minimally Invasive surgery'' which consists of five chapters. It starts with an Introduction and Literature Review that studies some of the most famous surgical robotic systems and analyses their pros and cons. Chapter two has to do with the problem statement and challenges that need to be addressed while designing our specific surgical tool, and a CAD design of a flexible continuum robot will be done for our brain surgery application. In chapter three, the kinematic modeling of the proposed robot is analyzed by a new model based on the Euler spirals and the results are compared with conventional constant curvature models. In chapter four, a model predictive control algorithm is proposed that considers the input saturation constraints on robot actuators. Finally, a discussion and conclusion will be provided in chapter five.engUniversity 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.Medical RoboticsContinuum RobotsModel Predictive ControlEngineering--BiomedicalEngineering--MechanicalRoboticsmaster thesis