Mechanical & Materials Engineering, Department of


Date of this Version

Summer 8-16-2014


A Thesis submitted 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 & Applied Mechanics, Under the Supervision of Professor Shane M. Farritor. Lincoln, Nebraska: August, 2014

Copyright 2014 Eric Markvicka


Paradigm shifts in invasiveness, recovery time, cosmesis, and cost have been seen within the field of general surgery through major advances in surgical technology. Some of the most advanced types of general surgery now include Minimally Invasive Surgery (MIS), LaparoEndoscopic Single-Site (LESS) surgery, and Natural Orifice Translumenal Endoscopic Surgery (NOTES). One of the newest and rapidly developing catalysts is robotic platforms. Such platforms have improved ergonomics and control, increased workspace and dexterity, and have surpassed the efficacy of many non-robotic platforms such as traditional laparoscopic surgical tools. This thesis presents the design and development of a four-degree-of-freedom (4- DOF) miniature in vivo surgical robot with distributed motor control for laparoendoscopic single-site surgery. The robotic platform consists of a two-armed robotic prototype, distributed motor control system, insufflated insertion device, and a remote surgeon interface.

Advisor: Shane Farritor