Faculty Advisor

Zhang, Haichong

Faculty Advisor

Fischer, Gregory S.

Faculty Advisor

Fichera, Loris

Abstract

The objective of this project is to investigate robotic platforms to enhance a physician's dexterity in minimally invasive endoscopic surgery. We designed and constructed a continuum robotic manipulator consisting of two concentric notched tubes capable of providing pan and tilt degrees of freedom. Building the manipulator out of tubes enables the passage of a variety of surgical instruments through the tubes' open lumen. Control of the robot is based on its inverse kinematics, which is approximated taking advantage of the geometry of the robot to iteratively and efficiently converge on the desired solution. We report on experimental evidence that verifies the positional accuracy of the robot.

Publisher

Worcester Polytechnic Institute

Date Accepted

2020-05-18

Major

Robotics Engineering

Major

Interdisciplinary

Project Type

Major Qualifying Project

Accessibility

Unrestricted

Advisor Department

Biomedical Engineering

Advisor Department

Mechanical Engineering

Advisor Department

Computer Science

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