Date of Publication

1-2024

Document Type

Dissertation

Degree Name

Doctor of Philosophy in Manufacturing Engineering

Subject Categories

Biomedical Engineering and Bioengineering

College

Gokongwei College of Engineering

Department/Unit

Manufacturing Engineering and Management

Thesis Advisor

Nilo T. Bugtai

Defense Panel Chair

Alexander Co Abad

Defense Panel Member

Roy Francis Navea
Nicanor Roxas, Jr.
Renann Baldovino
Aaron Raymond See

Abstract (English)

Laparoscopy, a minimally invasive surgical technique, has revolutionized the field of surgery by replacing traditional open procedures with smaller incisions and reduced patient trauma. However, the current design of manual laparoscopic devices limits the range of motion for surgeons, restricting their maneuverability to only two degrees of freedom (DOF). This dissertation is a study aimed at addressing this limitation by designing and developing a robotic articulating laparoscopic instrument capable of providing 7-DOF movement.

The research aims to enhance surgical precision and dexterity by creating a tool that offers improved freedom of movement, allowing surgeons to navigate complex anatomical structures more effectively. The robotic instrument enabled greater flexibility and agility during laparoscopic procedures. The developed device is to undergo tests such as pig cadaver tests, safety and EMC testing and certifications, and latency. In addition, design simulations were done for initial validation and, range of motion tests for fabrication design validation.

By introducing robotics into laparoscopic surgery, this study also aims to improve accessibility and affordability. Robotic surgical systems have the potential to make advanced surgical techniques more widely available, ensuring that patients from various healthcare settings can benefit from the advantages of minimally invasive procedures.

The study was able to produce a 7-DOF device comprising of a patient side metal 3D printed end effector with robotic arm, and a surgeon side controller with a delta robot and gimbal. Range of motion test has shown that the fabricated designs are up to the necessary specifications. It was also able to test on a pig cadaver which it successfully removed a gallbladder despite breakdowns of the motors and organ bloating. It was able to as well acquire safety certifications based on different IEC and CISPR standards required for such technologies.

The outcomes of this research endeavor have the potential to revolutionize laparoscopic surgery, providing surgeons with an advanced tool that facilitates intricate maneuvers and improves patient outcomes. Furthermore, the increased accessibility and affordability of robotic-assisted laparoscopy can positively impact healthcare systems, expanding the reach of advanced surgical techniques and benefiting a broader patient population.

Abstract Format

html

Abstract (Filipino)

None

Abstract Format

html

Language

English

Format

Electronic

Keywords

Laparoscopes; Surgical instruments and apparatus

Upload Full Text

wf_yes

Embargo Period

1-2025

Download

Share

COinS