Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/65140
Title: Design of a robot arm for high intensity focused ultrasound
Authors: Mehta, Rounak Subodh
Keywords: DRNTU::Engineering::Mechanical engineering
Issue Date: 2015
Abstract: Minimally invasive and non-invasive procedures combined with the precision and control offered by robotics is bringing about a revolution in the medical world; leading to more affordable healthcare and faster recovery periods. Currently, robotic technologies are in certified use for master slave surgery. With the advances in computer technology and medical sensing, a further challenge is to use the available technology to automate a medical process. High intensity focused ultrasound (HIFU) is one such non-invasive procedure that is increasingly being used as an alternative treatment for cancer. The treatment requires a small focal region of the HIFU transducer to be swept through the volume of the tumor with the guidance of an ultrasound probe. The work embodied in this thesis involves the design and control of a robot that can maneuver over the body and position the ultrasound probe and HIFU transducer, to facilitate an automated, portable, inexpensive and non-invasive treatment for prostate cancer. This design stands out from the other robot arms used in the medical field due to it’s small size compared to other 5 degree of freedom manipulators, and high payload capacity, large workspace and range of orientations compared to robots of a similar size.
URI: http://hdl.handle.net/10356/65140
Rights: Nanyang Technological University
Fulltext Permission: restricted
Fulltext Availability: With Fulltext
Appears in Collections:MAE Student Reports (FYP/IA/PA/PI)

Files in This Item:
File Description SizeFormat 
Final Year Project_Rounak Mehta.pdf
  Restricted Access
main article4.12 MBAdobe PDFView/Open

Page view(s) 50

112
checked on Oct 21, 2020

Download(s) 50

1
checked on Oct 21, 2020

Google ScholarTM

Check

Items in DR-NTU are protected by copyright, with all rights reserved, unless otherwise indicated.