Date Approved

9-23-2024

Embargo Period

9-24-2024

Document Type

Dissertation

Degree Name

Doctor of Philosophy (Ph.D.)

Department

Biomedical Engineering

College

Henry M. Rowan College of Engineering

Advisor

Mohammad Abedin-Nasab, Ph.D.

Committee Member 1

Iulian I. Iordachita, Ph.D.

Committee Member 2

Vince Beachley, Ph.D.

Committee Member 3

Sebastián Vega, Ph.D.

Committee Member 4

Sean McMillan, D.O.

Subject(s)

Haptic devices; Femur--Surgery; Robotics in medicine

Disciplines

Biomedical Engineering and Bioengineering | Mechanical Engineering | Surgery

Abstract

Robot-assisted surgery has emerged within the field of surgical technology, driven by the need for greater accuracy and speed in the ongoing evolution of healthcare. This advancement has influenced numerous areas requiring enhancements to achieve optimal surgical results. However, surgical robotics tends to lack the surgeon’s connection to the operation, creating a gap in the intuitive skill set required for successful operations. The gap is seen through the lack of sense of touch, which may result in tissue damage and additional injury when the robot interacts with the patient. Furthermore, challenges faced during femur fracture surgery have positioned robot-assisted surgery as a potential alternative to traditional state-of-the-art clinical techniques. These challenges encompass the considerable force necessary to adjust and secure the bone fragments, unacceptably high incidences of malalignment and malrotation, and significant x-ray exposure to the surgical team. Numerous research studies have been conducted on developing a robot-assisted system for femur fracture surgery, but no system has yet been adequately developed to meet the clinical and mechanical requirements specific to femur fracture surgery. In the context of this dissertation, a haptic system is developed for robot-assisted femur fracture surgery. The developed haptic system is designed with a leader-follower architecture to transfer the motion and project haptic feedback onto the surgeon's hand.

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