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Robotic Actuation for Fetoscopic Interventions

Dwyer, George; (2020) Robotic Actuation for Fetoscopic Interventions. Doctoral thesis (Ph.D), UCL (University College London). Green open access

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Abstract

Fetoscopic surgery is a form of minimally invasive surgery within the womb during pregnancy. It involves the introduction of small diameter, rigid instrumentation to fix defects in the placenta or developing fetus. Surgery within the uterine environment is technically very challenging due to the environment containing many critical structures that the instrumentation should not come into contact with. Robotics could potentially assist in these procedures through stabilising the instrumentation and introducing additional degrees of freedom at the tip of the instruments. This thesis presents the design, control and application of robotic manipulators positioned both outside and within the body to control imaging sensors. Custom endoscopes have been designed and fabricated with white light imaging sensors and all-optical ultrasound sensors. These endoscopes are held outside the body, proximal to the surgeon, by an articulated robotic manipulator. Additionally, within the body, distal to the surgeon, a continuum manipulator provides articulation at the tip of the instrument. The articulated robotic manipulator is constrained to the surgical incision point using a remote centre of motion which allows the endoscope to only pivot about the point and translate along the instrument axis. The continuum manipulator used is a form of concentric tube mechanism, which relies on the interactions between a curved tube of a super elastic material and a straight rigid tube, this can be controlled to deflect the tip of the endoscope from the main instrument axis. The developed endoscopes are then demonstrated through the execution of generated trajectories, which can be used to derive geometry of the imaging target and enhance the field of view of the imaging modalities.

Type: Thesis (Doctoral)
Qualification: Ph.D
Title: Robotic Actuation for Fetoscopic Interventions
Event: UCL (University College London)
Open access status: An open access version is available from UCL Discovery
Language: English
Additional information: Copyright © The Author 2020. Original content in this thesis is licensed under the terms of the Creative Commons Attribution 4.0 International (CC BY 4.0) Licence (https://creativecommons.org/licenses/by/4.0/). Any third-party copyright material present remains the property of its respective owner(s) and is licensed under its existing terms. Access may initially be restricted at the author’s request.
UCL classification: UCL
UCL > Provost and Vice Provost Offices
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Population Health Sciences
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Population Health Sciences > UCL GOS Institute of Child Health
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Population Health Sciences > UCL GOS Institute of Child Health > Developmental Biology and Cancer Dept
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science
URI: https://discovery.ucl.ac.uk/id/eprint/10110374
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