Mechanical & Materials Engineering, Department of


Date of this Version

Summer 8-2-2013


J. G. Greenburg, “Measurement and Description of Dynamics Required for in vivo Surgical Robotics via Kinematic Methods,” M.S. thesis, Mech. and Mater. Eng., Univ. of Neb., Lincoln, NE, 2013.


A THESIS Presented to the Faculty of The Graduate College at the University of Nebraska In Partial Fulfillment of Requirements For the Degree of Master of Science, Major: Mechanical Engineering and Applied Mechanics, Under the Supervision of Professor Shane M. Farritor. Lincoln, Nebraska: August, 2013

Copyright (c) 2013 Jacob G. Greenburg


With the goal of improved recovery times and reduced trauma to the patient there has been a substantial shift in the medical community’s demand for minimally invasive surgical (MIS) techniques. With the standardization of MIS becoming more commonplace in the medical field there are still many improvements that are desired. Traditional, manual methods of these surgeries require multiple incisions on the abdomen for the tools and instruments to be inserted. The more recent demand has been to localize the incisions into what is being referred to as a Laparoendoscopic Single-Site (LESS) surgery. Furthermore, the manual instruments that are commonly used are rigid and when inserted create a pivot point with the abdominal wall. The pivot created greatly decreases the intuitiveness and usability of instruments by inverting the required maneuvers of the surgeon. The solution to these problems is to utilize a controlled surgical robotic system designed and optimized for the LESS surgical constraints. Such a solution recovers normal movement to the surgeon; however, the primary limitation to this answer is the unknown requirements on the design. Although the size of the abdominal cavity and space requirements are fundamentally known by observation, in order to successfully complete a MIS the forces and torques involved are also necessary. Such an observation is much more difficult to obtain and these quantities remain largely unknown. It is the method of acquisition and the discovered magnitude of these that will be presented in this thesis. It is then possible to utilize these new data to adjust the various parameters of the surgical robot to further optimize abdominal cavity constraint usage.

Advisor: Shane M. Farritor