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Title: Robotic assisted laser bone ablation for orthopaedic surgery
Author: Ahwal, Fadi Odeh
ISNI:       0000 0004 2718 9931
Awarding Body: University of Hull
Current Institution: University of Hull
Date of Award: 2006
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The needs for better quality patient care and improved surgical procedures drive the development of new surgical tools and techniques that can augment the human surgeon capabilities. Over the past decade or so there have been significant advances in the design and development of computer assisted image guided surgery systems that can potentially perform complex tasks with high dexterity, speed and flexibility. The aim of this research work is to investigate various aspects in the design of a new computer assisted surgical tool capable of sawing, drilling and sculpturing of bone in support of image guided surgery that aims to reduce invasiveness, minimise blood loss and improve surgical outcome. The research of this thesis focuses on the design of an active positioning system (robotic end-effector) that uses a laser to cut bone to replace some of the currently available tools. This thesis starts by reviewing medical lasers and laser delivery systems, and discussing the effects of different lasers and lasers' parameters on tissue ablation time, rate and depth. It then defines criterion for the selection of the most appropriate laser and laser delivery system for bone cutting, drilling and sculpturing applications. Secondly, the thesis presents a unique design of a robotic laser end-effector. This end-effector is designed to provide accurate laser guidance for precise surgical performance (tissue ablation). This design is supported by an in-depth forward and inverse kinematic analysis to determine the end-effector workspace, resolution, positioning accuracy and manipulation flexibility. Thirdly and perhaps most importantly, the thesis presents two innovative laser feedback techniques, developed by the author, to determine the laser ablation depth and rate in real time during laser tissue interaction. These techniques are presented with complete analysis and supported by real time feedback examples. The techniques showed high measurement accuracy and reliability. Finally the thesis reviews the overall system performance supported by an error analysis model to determine the effects of different errors on the manipulation and positioning performance of the laser end-effector. It also presents some possible end-effector design modifications, alternative feedback techniques and suggestions for future work.
Supervisor: Phillips, Roger Sponsor: University of Hull ; Jāmiʻat al-Quds
Qualification Name: Thesis (Ph.D.) Qualification Level: Doctoral
EThOS ID:  DOI: Not available
Keywords: Computer science