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RBE MS Thesis Presentation: Jesse d'Almeida | Making Concentric Tube Robots More Accessible: A New Open-Source Design Made of 3D-Printed and Other Easy-to-Source Materials

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WPI Robotics Engineering
Wednesday, April 21, 2021
10:00 am to 11:00 am

RBE MASTERS THESIS PRESENTATION

 

Jesse d’Almeida

Making Concentric Tube Robots More Accessible: A New Open-Source Design Made of 3D-Printed and Other Easy-to-Source Materials

 

Wednesday, April 21, 2021

10:00 AM – 11:00 AM

Virtual | Zoom link: https://wpi.zoom.us/j/6361489280

 

Abstract: In this thesis, we present an open-source, low-cost concentric tube robot (CTR) that utilizes 3D-printed components. As CTRs continue to emerge as a promising platform for robotic surgery, research and development (R&D) of these manipulators requires specialized expertise and facilities. CTRs are constructed out of Nickel-Titanium, a specialized metal alloy that can be expensive to source and difficult to process. Until now, R&D on concentric tube manipulators has been carried out primarily in academic institutions, and only in a limited number of centers. This thesis seeks to lower the barrier to entry for researchers and scholars who wish to begin a new line of research on CTRs. The contribution of this thesis is twofold: (1) we investigate the viability of fabricating concentric tube manipulator using additive manufacturing materials (as opposed to Nickel-Titanium); and (2) we provide an open-source CTR design that can be manufactured and assembled using easily sourced components.

 

Research Advisor:                            

Professor Loris Fichera, Worcester Polytechnic Institute (WPI)

Masters Thesis Committee:            

Professor Greg Lewin, Worcester Polytechnic Institute (WPI)

Professor Berk Calli, Worcester Polytechnic Institute (WPI)

DEPARTMENT(S):