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dc.contributor.advisorArmand, Mehranen_US
dc.contributor.authorMurphy, Ryan Josephen_US
dc.date.accessioned2015-09-16T03:38:31Z
dc.date.available2015-09-16T03:38:31Z
dc.date.created2015-05en_US
dc.date.issued2015-03-15en_US
dc.date.submittedMay 2015en_US
dc.identifier.urihttp://jhir.library.jhu.edu/handle/1774.2/37988
dc.description.abstractContinuum manipulators have become prevalent in many minimally invasive surgeries; typically, these surgeries involve only soft tissues. The exponential growth of this field has resulted in a variety of manipulator designs and associated models to understand and control the manipulators. Many of the existing models rely on constant-curvature (or piecewise-constant) assumptions that are borne out in manipulators under study. However, such constant-curvature assumptions fail to accurately describe a single-body manipulator specifically designed for orthopaedic surgery. This planar, underactuated manipulator exhibits variable curvature bending and complex responses to environmental constraints. This work investigates the utility of such a manipulator for the treatment of osteolysis (bone degradation) occurring behind a total hip replacement by examining the workspace, inverse kinematics, and control. Defining the manipulator workspace using convolution on group elements shows the manipulator is capable of achieving over 95% coverage in an osteolytic lesion, compared to the nominal 50% reported by clinicians. Several inverse kinematic models are presented, including (a) constrained energy minimization using tip position (or position and orientation) feedback and (b) interpolation among discrete shape-sensing elements simulated along the manipulator length. These approaches are examined with and without external loads applied to the manipulator; the position and orientation constrained function offers the best results, but all achieve sub-millimeter accuracy on average. The research concludes with the design and implementation of an efficient, model-less controller using feedback from curvature sensors; the controller reliably predicts control inputs. While the motivating manipulator bends in a single plane, these methods may be extended to consider variable curvature manipulators capable of three-dimensional bending.en_US
dc.format.mimetypeapplication/pdfen_US
dc.languageen
dc.publisherJohns Hopkins University
dc.subjectSurgical roboticsen_US
dc.subjectContinuum manipulatorsen_US
dc.subjectKinematicsen_US
dc.titleAnalysis and Control of a Variable-Curvature Continuum Manipulator for the Treatment of Osteolysisen_US
dc.typeThesisen_US
thesis.degree.disciplineRoboticsen_US
thesis.degree.grantorJohns Hopkins Universityen_US
thesis.degree.grantorWhiting School of Engineeringen_US
thesis.degree.levelDoctoralen_US
thesis.degree.namePh.D.en_US
dc.type.materialtexten_US
thesis.degree.departmentMechanical Engineeringen_US
dc.contributor.committeeMemberTaylor, Russell H.en_US
dc.contributor.committeeMemberCowan, Noah J.en_US
dc.contributor.committeeMemberKhanuja, Harpal S.en_US


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