+publisher:"Vanderbilt University" +contributor:("Thomas J. Withrow")

Vanderbilt University

1. Branscombe, Lauren M. Evaluating a Wearable Sensor-Based Tibia Force Estimation Algorithm for Applications in Stress Fracture Reduction in Runners.

Degree: MS, Mechanical Engineering, 2018, Vanderbilt University

URL: http://hdl.handle.net/1803/12270

► Tibia stress fractures are prevalent injuries in recreational runners, yet little is known about how to identify risk factors, due to a lack of ability… (more)

Subjects/Keywords: bone force estimation; wearable sensing; tibia stress fractures; running

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APA (6^th Edition):

Branscombe, L. M. (2018). Evaluating a Wearable Sensor-Based Tibia Force Estimation Algorithm for Applications in Stress Fracture Reduction in Runners. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/12270

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Branscombe, Lauren M. “Evaluating a Wearable Sensor-Based Tibia Force Estimation Algorithm for Applications in Stress Fracture Reduction in Runners.” 2018. Thesis, Vanderbilt University. Accessed March 09, 2021. http://hdl.handle.net/1803/12270.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Branscombe, Lauren M. “Evaluating a Wearable Sensor-Based Tibia Force Estimation Algorithm for Applications in Stress Fracture Reduction in Runners.” 2018. Web. 09 Mar 2021.

Vancouver:

Branscombe LM. Evaluating a Wearable Sensor-Based Tibia Force Estimation Algorithm for Applications in Stress Fracture Reduction in Runners. [Internet] [Thesis]. Vanderbilt University; 2018. [cited 2021 Mar 09]. Available from: http://hdl.handle.net/1803/12270.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Branscombe LM. Evaluating a Wearable Sensor-Based Tibia Force Estimation Algorithm for Applications in Stress Fracture Reduction in Runners. [Thesis]. Vanderbilt University; 2018. Available from: http://hdl.handle.net/1803/12270

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Vanderbilt University

2. Russell, Ryan Christopher. Computer Finite Element Simulation in Mechanical Design.

Degree: MS, Mechanical Engineering, 2013, Vanderbilt University

URL: http://hdl.handle.net/1803/14599

► Finite element analysis employs the finite element numerical method to solve complicated engineering problems. Integrating finite element studies into the design cycle can help to… (more)

Subjects/Keywords: finite element analysis; brushless dc motor; adaptive vehicle make

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APA (6^th Edition):

Russell, R. C. (2013). Computer Finite Element Simulation in Mechanical Design. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14599

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Russell, Ryan Christopher. “Computer Finite Element Simulation in Mechanical Design.” 2013. Thesis, Vanderbilt University. Accessed March 09, 2021. http://hdl.handle.net/1803/14599.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Russell, Ryan Christopher. “Computer Finite Element Simulation in Mechanical Design.” 2013. Web. 09 Mar 2021.

Vancouver:

Russell RC. Computer Finite Element Simulation in Mechanical Design. [Internet] [Thesis]. Vanderbilt University; 2013. [cited 2021 Mar 09]. Available from: http://hdl.handle.net/1803/14599.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Russell RC. Computer Finite Element Simulation in Mechanical Design. [Thesis]. Vanderbilt University; 2013. Available from: http://hdl.handle.net/1803/14599

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Vanderbilt University

3. Cardona, Diana Catalina. A MRI compatible concentric tube continuum robot with pneumatic actuation.

Degree: MS, Mechanical Engineering, 2012, Vanderbilt University

URL: http://hdl.handle.net/1803/12013

► The aim of this study is to develop a magnetic resonance imaging (MRI) compatible robot to enable image guided interventions to enhance accuracy and reduce… (more)

Subjects/Keywords: robot; mri compatible; active cannula; image guided interventions; medical devices; pneumatic actuation

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APA (6^th Edition):

Cardona, D. C. (2012). A MRI compatible concentric tube continuum robot with pneumatic actuation. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/12013

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Cardona, Diana Catalina. “A MRI compatible concentric tube continuum robot with pneumatic actuation.” 2012. Thesis, Vanderbilt University. Accessed March 09, 2021. http://hdl.handle.net/1803/12013.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Cardona, Diana Catalina. “A MRI compatible concentric tube continuum robot with pneumatic actuation.” 2012. Web. 09 Mar 2021.

Vancouver:

Cardona DC. A MRI compatible concentric tube continuum robot with pneumatic actuation. [Internet] [Thesis]. Vanderbilt University; 2012. [cited 2021 Mar 09]. Available from: http://hdl.handle.net/1803/12013.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Cardona DC. A MRI compatible concentric tube continuum robot with pneumatic actuation. [Thesis]. Vanderbilt University; 2012. Available from: http://hdl.handle.net/1803/12013

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Vanderbilt University

4. Korman, Zachary Michael. Enhancing Locomotor Performance by Modulating Shoe Cushioning Properties.

Degree: MS, Mechanical Engineering, 2016, Vanderbilt University

URL: http://hdl.handle.net/1803/12052

► The goal of this work was to determine if and how footwear properties could be modified to alter walking biomechanics. A test shoe was developed… (more)

Subjects/Keywords: pushoff; COM power; inverse dynamics; sole; midsole; energy; ground reaction force; collision; COM

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APA (6^th Edition):

Korman, Z. M. (2016). Enhancing Locomotor Performance by Modulating Shoe Cushioning Properties. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/12052

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Korman, Zachary Michael. “Enhancing Locomotor Performance by Modulating Shoe Cushioning Properties.” 2016. Thesis, Vanderbilt University. Accessed March 09, 2021. http://hdl.handle.net/1803/12052.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Korman, Zachary Michael. “Enhancing Locomotor Performance by Modulating Shoe Cushioning Properties.” 2016. Web. 09 Mar 2021.

Vancouver:

Korman ZM. Enhancing Locomotor Performance by Modulating Shoe Cushioning Properties. [Internet] [Thesis]. Vanderbilt University; 2016. [cited 2021 Mar 09]. Available from: http://hdl.handle.net/1803/12052.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Korman ZM. Enhancing Locomotor Performance by Modulating Shoe Cushioning Properties. [Thesis]. Vanderbilt University; 2016. Available from: http://hdl.handle.net/1803/12052

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Vanderbilt University

5. Tucker, John Michael. Design and Experimental Evaluation of a High Energy Density Elastomeric Strain Energy Accumulator.

Degree: MS, Mechanical Engineering, 2012, Vanderbilt University

URL: http://hdl.handle.net/1803/12014

► DESIGN AND EXPERIMENTAL EVALUATION OF A HIGH ENERGY DENSITY ELASTOMERIC STRAIN ENERGY ACCUMULATOR By John Michael Tucker Thesis under the direction of Professor Eric J.… (more)

Subjects/Keywords: hydraulic; regenerative braking; strain energy; fluid power; hybrid; energy density; power density

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APA (6^th Edition):

Tucker, J. M. (2012). Design and Experimental Evaluation of a High Energy Density Elastomeric Strain Energy Accumulator. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/12014

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Tucker, John Michael. “Design and Experimental Evaluation of a High Energy Density Elastomeric Strain Energy Accumulator.” 2012. Thesis, Vanderbilt University. Accessed March 09, 2021. http://hdl.handle.net/1803/12014.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Tucker, John Michael. “Design and Experimental Evaluation of a High Energy Density Elastomeric Strain Energy Accumulator.” 2012. Web. 09 Mar 2021.

Vancouver:

Tucker JM. Design and Experimental Evaluation of a High Energy Density Elastomeric Strain Energy Accumulator. [Internet] [Thesis]. Vanderbilt University; 2012. [cited 2021 Mar 09]. Available from: http://hdl.handle.net/1803/12014.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Tucker JM. Design and Experimental Evaluation of a High Energy Density Elastomeric Strain Energy Accumulator. [Thesis]. Vanderbilt University; 2012. Available from: http://hdl.handle.net/1803/12014

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Vanderbilt University

6. Liu, Zhangshi. Analysis and Modeling of Wire-actuated Wrist with a Universal Joint.

Degree: MS, Mechanical Engineering, 2016, Vanderbilt University

URL: http://hdl.handle.net/1803/13589

► The thesis presents the work on developing wire-actuated wrist for Minimally Invasive Surgery (MIS). The benefits of MIS is to minimize surgical trauma, reduce rate… (more)

Subjects/Keywords: wrech closure workspace; universal joint; hybrid architecture robot; Wire-actuated wrist

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APA (6^th Edition):

Liu, Z. (2016). Analysis and Modeling of Wire-actuated Wrist with a Universal Joint. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/13589

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Liu, Zhangshi. “Analysis and Modeling of Wire-actuated Wrist with a Universal Joint.” 2016. Thesis, Vanderbilt University. Accessed March 09, 2021. http://hdl.handle.net/1803/13589.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Liu, Zhangshi. “Analysis and Modeling of Wire-actuated Wrist with a Universal Joint.” 2016. Web. 09 Mar 2021.

Vancouver:

Liu Z. Analysis and Modeling of Wire-actuated Wrist with a Universal Joint. [Internet] [Thesis]. Vanderbilt University; 2016. [cited 2021 Mar 09]. Available from: http://hdl.handle.net/1803/13589.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Liu Z. Analysis and Modeling of Wire-actuated Wrist with a Universal Joint. [Thesis]. Vanderbilt University; 2016. Available from: http://hdl.handle.net/1803/13589

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Vanderbilt University

7. Ingram, Philip David. Investigation of the Madaras Wind Turbine using Computational Tools.

Degree: MS, Mechanical Engineering, 2012, Vanderbilt University

URL: http://hdl.handle.net/1803/14507

► Computational modeling of the Madaras wind turbine is presented in this thesis. First, comparative studies were performed based upon literature results to validate the accuracy… (more)

Subjects/Keywords: Computational Fluid Dynamics; Wind Turbine; Madaras; Wind Energy; CFD

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APA (6^th Edition):

Ingram, P. D. (2012). Investigation of the Madaras Wind Turbine using Computational Tools. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14507

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Ingram, Philip David. “Investigation of the Madaras Wind Turbine using Computational Tools.” 2012. Thesis, Vanderbilt University. Accessed March 09, 2021. http://hdl.handle.net/1803/14507.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Ingram, Philip David. “Investigation of the Madaras Wind Turbine using Computational Tools.” 2012. Web. 09 Mar 2021.

Vancouver:

Ingram PD. Investigation of the Madaras Wind Turbine using Computational Tools. [Internet] [Thesis]. Vanderbilt University; 2012. [cited 2021 Mar 09]. Available from: http://hdl.handle.net/1803/14507.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Ingram PD. Investigation of the Madaras Wind Turbine using Computational Tools. [Thesis]. Vanderbilt University; 2012. Available from: http://hdl.handle.net/1803/14507

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Vanderbilt University

8. Pedchenko, Alexander Vadimovich. Design and Finite Element Modeling of a High Energy Density Strain Energy Accumulator.

Degree: MS, Mechanical Engineering, 2014, Vanderbilt University

URL: http://hdl.handle.net/1803/10624

► This thesis provides an overview of the design and modeling of a hydraulic strain energy accumulator made out of an elastomeric material. The document first… (more)

Subjects/Keywords: energy storage; hyperelastic modeling; accumulator design

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APA (6^th Edition):

Pedchenko, A. V. (2014). Design and Finite Element Modeling of a High Energy Density Strain Energy Accumulator. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/10624

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Pedchenko, Alexander Vadimovich. “Design and Finite Element Modeling of a High Energy Density Strain Energy Accumulator.” 2014. Thesis, Vanderbilt University. Accessed March 09, 2021. http://hdl.handle.net/1803/10624.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Pedchenko, Alexander Vadimovich. “Design and Finite Element Modeling of a High Energy Density Strain Energy Accumulator.” 2014. Web. 09 Mar 2021.

Vancouver:

Pedchenko AV. Design and Finite Element Modeling of a High Energy Density Strain Energy Accumulator. [Internet] [Thesis]. Vanderbilt University; 2014. [cited 2021 Mar 09]. Available from: http://hdl.handle.net/1803/10624.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Pedchenko AV. Design and Finite Element Modeling of a High Energy Density Strain Energy Accumulator. [Thesis]. Vanderbilt University; 2014. Available from: http://hdl.handle.net/1803/10624

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Vanderbilt University

9. Honert, Eric Christian. Ankle and Foot Biomechanics during Human Walking: Powerful Insights on Multiarticular Muscles, Soft Tissues, and Toe Joint Dynamics.

Degree: PhD, Mechanical Engineering, 2019, Vanderbilt University

URL: http://hdl.handle.net/1803/10801

► The goal of my research is to investigate the biomechanical contributions of the human foot to walking. We examined the role of mono- and multi-… (more)

Subjects/Keywords: gait; toe joint; metatarsophalangeal joint; musculoskeletal model; toe length; toe stiffness; toe sh

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APA (6^th Edition):

Honert, E. C. (2019). Ankle and Foot Biomechanics during Human Walking: Powerful Insights on Multiarticular Muscles, Soft Tissues, and Toe Joint Dynamics. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/10801

Chicago Manual of Style (16^th Edition):

Honert, Eric Christian. “Ankle and Foot Biomechanics during Human Walking: Powerful Insights on Multiarticular Muscles, Soft Tissues, and Toe Joint Dynamics.” 2019. Doctoral Dissertation, Vanderbilt University. Accessed March 09, 2021. http://hdl.handle.net/1803/10801.

MLA Handbook (7^th Edition):

Honert, Eric Christian. “Ankle and Foot Biomechanics during Human Walking: Powerful Insights on Multiarticular Muscles, Soft Tissues, and Toe Joint Dynamics.” 2019. Web. 09 Mar 2021.

Vancouver:

Honert EC. Ankle and Foot Biomechanics during Human Walking: Powerful Insights on Multiarticular Muscles, Soft Tissues, and Toe Joint Dynamics. [Internet] [Doctoral dissertation]. Vanderbilt University; 2019. [cited 2021 Mar 09]. Available from: http://hdl.handle.net/1803/10801.

Council of Science Editors:

Honert EC. Ankle and Foot Biomechanics during Human Walking: Powerful Insights on Multiarticular Muscles, Soft Tissues, and Toe Joint Dynamics. [Doctoral Dissertation]. Vanderbilt University; 2019. Available from: http://hdl.handle.net/1803/10801

Vanderbilt University

10. Cummins, Joshua Joseph. Characterization of a Pneumatic Strain Energy Accumulator: Efficiency and First Principles Models with Uncertainty Analysis.

Degree: PhD, Mechanical Engineering, 2016, Vanderbilt University

URL: http://hdl.handle.net/1803/11159

► Several technical needs were identified and addressed for advancing the Strain Energy Accumulator (SEA), which is an energy storage device consisting of an expandable rubber… (more)

▼ Several technical needs were identified and addressed for advancing the Strain Energy Accumulator (SEA), which is an energy storage device consisting of an expandable rubber bladder inside of a rigid shroud that stores energy in the form of pressure and strain. First, multiscale modeling methods were investigated to estimate the homogenized elastic modulus of carbon nanotube (CNT) rubber. The result is homogenized modulus estimates ranging from a few times to almost 80 times the elastic modulus of rubber, indicating the need for validation of existing models or development of new models to estimate the modulus for matrix and inclusion materials having drastically dissimilar moduli. Second, an analytical methodology was developed for simultaneously characterizing the energy storage in pneumatic and strain energy systems including component efficiency. By incorporating uncertainty analysis, the efficiencies of the strain energy accumulator are measured in over 2500 cycles of testing to be consistently over 93 %. Third, system state efficiency models were developed and expanded. Through experimentation, the model was determined to be favorably conservative with system efficiency projections ranging from 31 % to over 60 % depending on the system configuration. In addition, materials challenges in high pressure applications led to the conceptual investigation of CNT elastomers offering improved material strength properties and the potential for self-sensing. In previous research, carbon nanotube sensor thread was tested as a distributed sensor on carbon fiber reinforced composites and was able to monitor strain and detect damage in composite panels. The use of nanomaterials for self-sensing was extended in the current work with proof of concept tests performed on electrically conductive elastomers that exhibited the ability to monitor load and detect damage in specific directions. Each of these contributions in the areas of materials modeling, uncertainty analysis, and component and system efficiency quantification techniques has helped to advance the Strain Energy Accumulator technology. Advisors/Committee Members: Eric J Barth (committee member), Sankaran Mahadevan (committee member), Thomas J Withrow (committee member), Florence Sanchez (committee member), Douglas E Adams (Committee Chair).

Subjects/Keywords: Efficiency; Modeling; Strain Energy; Pneumatics; Conductive Elastomers; Load and Damage Monitoring

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APA (6^th Edition):

Cummins, J. J. (2016). Characterization of a Pneumatic Strain Energy Accumulator: Efficiency and First Principles Models with Uncertainty Analysis. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/11159

Chicago Manual of Style (16^th Edition):

Cummins, Joshua Joseph. “Characterization of a Pneumatic Strain Energy Accumulator: Efficiency and First Principles Models with Uncertainty Analysis.” 2016. Doctoral Dissertation, Vanderbilt University. Accessed March 09, 2021. http://hdl.handle.net/1803/11159.

MLA Handbook (7^th Edition):

Cummins, Joshua Joseph. “Characterization of a Pneumatic Strain Energy Accumulator: Efficiency and First Principles Models with Uncertainty Analysis.” 2016. Web. 09 Mar 2021.

Vancouver:

Cummins JJ. Characterization of a Pneumatic Strain Energy Accumulator: Efficiency and First Principles Models with Uncertainty Analysis. [Internet] [Doctoral dissertation]. Vanderbilt University; 2016. [cited 2021 Mar 09]. Available from: http://hdl.handle.net/1803/11159.

Council of Science Editors:

Cummins JJ. Characterization of a Pneumatic Strain Energy Accumulator: Efficiency and First Principles Models with Uncertainty Analysis. [Doctoral Dissertation]. Vanderbilt University; 2016. Available from: http://hdl.handle.net/1803/11159

Vanderbilt University

11. Dillon, Neal Patrick. Analysis, Design, and Modeling of Image-Guided Robotic Systems for Otologic Surgery.

Degree: PhD, Mechanical Engineering, 2017, Vanderbilt University

URL: http://hdl.handle.net/1803/10477

► Otology and neurotology are surgical specialties focusing on the treatment of ear diseases. A key component of many otologic and neurotologic surgical procedures is the… (more)

▼ Otology and neurotology are surgical specialties focusing on the treatment of ear diseases. A key component of many otologic and neurotologic surgical procedures is the removal of a portion of the skull behind the ear to gain access to subsurface anatomy. This process, called a mastoidectomy, is performed manually with a high speed surgical drill. Many vital structures, including nerves and blood vessels, are embedded within the temporal bone near the region of bone that must be removed, which makes the procedure difficult, time consuming, and in some cases, overly invasive. Image-guided and robotic systems have the potential to improve otologic procedures using medical imaging to guide their interventions, enabling patient-specific treatments that reduce invasiveness and save valuable operating room time. However, since damage to the complex vital structures within the surgical field could result in severe consequences to the patient, any image-guided or robotic surgical system must be extremely safe and accurate. These requirements, along with the small surgical workspace and difficulty integrating systems into the current clinical workflow, have limited the adoption of such systems in otologic surgery to date. This dissertation presents the design, experimentation, and analyses of image-guided, robotic systems under development for otologic surgery in an effort to bring these systems closer to clinical realization. The specific goals of the work are to better understand the technical requirements of various otologic surgical procedures, to improve the safety and efficiency of image-guided and robotic surgery by incorporating system modeling and medical image data into the surgical planning process, and to show feasibility and provide insights into practical issues through experimentation. Two image-guided otologic procedures are explored in this work: (1) robotic mastoidectomy and (2) minimally invasive cochlear implantation. The technical requirements of robotic mastoidectomy are first explored to determine the necessary robot workspace and the required milling forces. Using these design requirements, a bone-attached robotic system is developed and tested in temporal bone specimens and fresh human cadaver heads. Next, planning algorithms to improve the safety and efficiency of robotic mastoidectomy are described. A method for building patient-specific safety margins around vital anatomy based on probabilistic error models of the robotic system, required safety rates, and simulations of the surgery is provided. A second planning algorithm is presented, which improves robot trajectory generation for milling porous bone in close proximity to vital anatomy by using CT image-based force modeling to optimize tool orientation and velocity. The focus then shifts to minimally invasive, image-guided cochlear implantation. Two key safety issues are investigated: the positional accuracy of drilling a narrow tunnel towards the cochlea for electrode insertion and the heat rise near vital nerves during drilling. A method… Advisors/Committee Members: Thomas J. Withrow (committee member), Robert F. Labadie (committee member), Nabil Simaan (committee member), Michael I. Miga (committee member), Robert J. Webster III (Committee Chair).

Subjects/Keywords: Image-guided surgery; medical robotics; cochlear implantation; mastoidectomy; robotic bone milling; robot trajectory planning

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APA (6^th Edition):

Dillon, N. P. (2017). Analysis, Design, and Modeling of Image-Guided Robotic Systems for Otologic Surgery. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/10477

Chicago Manual of Style (16^th Edition):

Dillon, Neal Patrick. “Analysis, Design, and Modeling of Image-Guided Robotic Systems for Otologic Surgery.” 2017. Doctoral Dissertation, Vanderbilt University. Accessed March 09, 2021. http://hdl.handle.net/1803/10477.

MLA Handbook (7^th Edition):

Dillon, Neal Patrick. “Analysis, Design, and Modeling of Image-Guided Robotic Systems for Otologic Surgery.” 2017. Web. 09 Mar 2021.

Vancouver:

Dillon NP. Analysis, Design, and Modeling of Image-Guided Robotic Systems for Otologic Surgery. [Internet] [Doctoral dissertation]. Vanderbilt University; 2017. [cited 2021 Mar 09]. Available from: http://hdl.handle.net/1803/10477.

Council of Science Editors:

Dillon NP. Analysis, Design, and Modeling of Image-Guided Robotic Systems for Otologic Surgery. [Doctoral Dissertation]. Vanderbilt University; 2017. Available from: http://hdl.handle.net/1803/10477

Vanderbilt University

12. Garbin, Nicolo. Endoscopic and magnetic actuation for miniature lifesaving devices.

Degree: PhD, Mechanical Engineering, 2019, Vanderbilt University

URL: http://hdl.handle.net/1803/10533

► The need for medical technologies that improve patient access to diagnostic techniques and treat pathological conditions in a minimally invasive approach is capitalized in this… (more)

▼ The need for medical technologies that improve patient access to diagnostic techniques and treat pathological conditions in a minimally invasive approach is capitalized in this dissertation with the development, characterization, and testing toward clinical use of a series of endoscopically and magnetically actuated devices. The ﬁrst half of this dissertation proposed an alternative solution to the use of conventional ﬂexible endoscopy for the diagnosis of the upper gastrointestinal tract. The proposed disposable ﬂexible endoscope is, compared to conventional endoscopy, more cost effective, intuitive, and hygienic. The device’s endoscopic tip is controlled via pneumatic actuation. Modeling was inspired from multi-backbone continuum robots, and two user interfaces were investigated. First, a robotic platform is used to tackle the closed-loop control problem, then a novel user interface allows direct user-to-task mapping via pure mechanical actuation. The effectiveness of the latter approach was further assessed during in-vivo and cadaveric trials, ease of use was instead determined via approved user studies that involved medical providers with different backgrounds. The device is currently undergoing design freeze toward human trials. The second half of this dissertation exploits robotic control of magnetic actuation to develop therapeutic medical devices with applications in minimally invasive surgery and subcutaneous implants. A laparoscopic retractor able to retract up to 10 times its own weight, and laparoscopic camera with an hemispherical workspace via a compact unique magnetic coupling, decrease by two the number of incisions needed for abdominal surgery. These technologies decrease trauma, pain, and risk of infection for the patients, and offer better visibility, surgical workspace access, and decrease trocar crowding for the surgeons. Then, a subcutaneously implantable pump developed for the treatment of refractory ascites removes a large quantity of ﬂuids without the need of on-board electronics. All of these devices were tested during ex-vivo and in-vivo trials highlighting the advantages and effectiveness of using magnetic coupling for clinically relevant therapeutic tasks. Advisors/Committee Members: Thomas J. Withrow (committee member), Robert J. Webster III (committee member), Nabil Simaan (committee member), Pietro Valdastri (Committee Chair), Keith L. Obstein (Committee Chair).

Subjects/Keywords: magnetic actuation; disposable; robotic; medical device

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APA (6^th Edition):

Garbin, N. (2019). Endoscopic and magnetic actuation for miniature lifesaving devices. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/10533

Chicago Manual of Style (16^th Edition):

Garbin, Nicolo. “Endoscopic and magnetic actuation for miniature lifesaving devices.” 2019. Doctoral Dissertation, Vanderbilt University. Accessed March 09, 2021. http://hdl.handle.net/1803/10533.

MLA Handbook (7^th Edition):

Garbin, Nicolo. “Endoscopic and magnetic actuation for miniature lifesaving devices.” 2019. Web. 09 Mar 2021.

Vancouver:

Garbin N. Endoscopic and magnetic actuation for miniature lifesaving devices. [Internet] [Doctoral dissertation]. Vanderbilt University; 2019. [cited 2021 Mar 09]. Available from: http://hdl.handle.net/1803/10533.

Council of Science Editors:

Garbin N. Endoscopic and magnetic actuation for miniature lifesaving devices. [Doctoral Dissertation]. Vanderbilt University; 2019. Available from: http://hdl.handle.net/1803/10533

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Open Access Theses and Dissertations