Control System Development for a Gastric Retention and Injection Device for Autonomous Urgent Care Therapy

Time-sensitive medical emergencies resulting from the entry of harmful agents into the body require immediate and urgent medical attention to prevent irreversible symptoms or fatalities. However, the current process for urgent care relies on human intervention, which can introduce significant delays and potentially compromise the effectiveness...

Developing a high-performance patient-to-image registration system for robotic cochlear implant surgery: Through the human-robot interaction-focused design method leading to a multi-modal, multi-feedback admittance control, touch-based pair-point bone-anchored fiducial registration and its performance measured in accuracy, workload, usability and trust

This thesis presents the research to design a successful high-accuracy, sub-millimetric registration method for an autonomous robot equipped to drill bone for cochlear implant (CI) surgery. Its performance, and thus success, is measured in accuracy, workload, usability and trust. While state-of-the-art (STOTA) research lacks the inclusion of...

A Fully Implantable Closed-loop System for Autonomous Opioid Detection and Treatment

With over 75,000 attributed deaths in 2020, opioid overdose is now the leading cause of death amongst Americans under the age of 50. With record-breaking increases in fatalities for the past 10 years, fentanyl in particular has many experts worried about the future of the opioid epidemic. To reverse opioid overdose there exists a drug called...

Intrinsically Passive Control for Ultrasound-guided Robotic Scanning of the Breast

Automated breast ultrasound imaging systems provide the ability to combine the high anatomical detail of preoperative imaging with real-time intraoperative imaging. Ultrasound imaging involves interaction between the transducer and the patient, which requires a compliant behaviour of the robot in manipulating the transducer. We present an energy...

Applying Dynamic Damping to Robotic Vitreoretinal Surgery

Vitreoretinal surgery remains one of the most challenging types of surgery due to the delicate nature of the eye, the minimally invasive nature of the procedure, the small operating space and lack of depth perception. One of the procedures that is performed during vitreoretinal surgery is Epiretinal Membrane (ERM) Peeling , during which the...