Abstract

Surgical robots are increasingly becoming an integral part of an operating room to assist surgeons in performing dexterous surgical procedures and improve surgical precision. Research and development of novel and innovative surgical devices have become essential to further the frontiers of knowledge in this field and enable enhanced surgical outcomes. Precise and accurate positioning of tools is a key requirement during the design of a surgical robot, and this often demands design of new mechanisms. This dissertation explores development of two robotic surgical devices to improve the current surgical procedure of an osteochondral autograft transplantation and transperineal prostate biopsy needle insertion. We design and develop a robotically assisted novel graft removal mechanism to harvest a personalized autologous graft of any shape and size for osteochondral autograft transplantation. To provide robotic precision, greater access, and compact design, we design and develop a robotic mechanism that can provide four Degrees of Freedom manipulation in a compact form comparable to size of manual templates for transperineal prostate biopsy.

Notes

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Graduation Date

2022

Semester

Fall

Advisor

Das, Tuhin

Degree

Doctor of Philosophy (Ph.D.)

College

College of Engineering and Computer Science

Department

Mechanical and Aerospace Engineering

Degree Program

Mechanical Engineering

Identifier

CFE0009872; DP0028147

URL

https://purls.library.ucf.edu/go/DP0028147

Language

English

Release Date

December 2026

Length of Campus-only Access

3 years

Access Status

Doctoral Dissertation (Campus-only Access)

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Restricted to the UCF community until December 2026; it will then be open access.

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