114 research outputs found
On the Estimation of Angular Orientation With Microelectromechanical Systems
No full textBibliography: p. 196-20
Post-ischemic glycolytic and TCA cycle flux studies using 13C-NMR spectroscopy
No full textBibliography: p. 138-154.UAR
A Multi-Purpose Continuum Robot for Minimally Invasive Surgery
No full textThis 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
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