DESIGN AND ANALYSIS OF MULTIFUNCTIONAL ROBOT FOR NOTES

The elimination of all external incisions is an important step in reducing the invasiveness of surgical procedures. Natural Orifice Translumenal Endoscopic Surgery (NOTES) is an incision-less surgery and provides explicit benefits such as reducing patient trauma and shortening recovery time. However, technological difficulties impede the widespread utilization of the NOTES method. A novel robotic tool has been developed, which makes NOTES procedures feasible by using multiple interchangeable tool tips. The robotic tool has the capability of entering the body cavity through an orifice or a single incision using a flexible articulated positioning mechanism and once inserted is not constrained by incisions, allowing for visualization and manipulations throughout the cavity. Multiple interchangeable tool tips of the robotic device initially consist of three end effectors: a grasper, scissors, and an atraumatic Babcock clamp. The tool changer is capable of selecting and switching between the three tools depending on the surgical task using a miniature mechanism driven by micro-motors. The robotic tool is remotely controlled through a joystick and computer interface. In this thesis, the following aspects of this robotic tool will be detailed. The first-generation robot is designed as a conceptual model for implementing a novel mechanism of switching, advancing, and controlling the tool tips using two micro-motors. It is believed that this mechanism achieves a reduction in cumbersome instrument exchanges and can reduce overall procedure time and the risk of inadvertent tissue trauma during exchanges with a natural orifice approach. Also, placing actuators directly at the surgical site enables the robot to generate sufficient force to operate effectively. Mounting the multifunctional robot on the distal end of an articulating tube provides freedom from restriction on the robot kinematics and helps solve some of the difficulties otherwise faced during surgery using NOTES or related approaches. The second-generation multifunctional robot is then introduced in which the overall size is reduced and two arms provide 2 additional degrees of freedom, resulting in feasibility of insertion through the esophagus and increased dexterity. Improvements are necessary in future iterations of the multifunctional robot; however, the work presented is a proof of concept for NOTES robots capable of abdominal surgical interventions.

Constructability Testing of Folded Plate Girders

A new steel girder bridge system was developed at the University of Nebraska. The innovative girder design is a box girder folded from a single steel plate that has a trapezoid shape with an opening on the bottom. The girder has application in short span bridges and accelerated construction situations. The structural performance of the girder requires investigation in all stages of a bridge’s lifecycle. This thesis contains descriptions and results from the first two tests from a series of tests developed to evaluate this new girder shape. The objective of these two tests was to investigate the constructability of the girders. During construction a bridge is in its least stable condition and it is important that the bridge components exhibit both adequate strength and stability during this critical stage. To this end, two girders were tested in flexure over a simple span as a non-composite beam simulating the loading the girders would be subjected to during construction. The results of the two tests indicate that the folded girder as a whole, and its components, provide adequate strength and stability at construction load levels. Failure occurred at loads that were above normal construction load levels and resulted in a ductile failure mode, which is a well documented benefit of steel components. The girders remained stable through all phases of loading including failure. The top flange was the weakest component of the beam during construction due to its role as a compression element that has a slender and un-braced form. The compression in the top flange caused local buckling in the top flange even at elastic load levels. This was the cause for loss of stiffness and failure in both specimens. Incorporation of a ridge at the center of the top flange of specimens, results of which are not reported in this thesis, proved to resolve this very early buckling issue.

EXPERIMENTAL INVESTIGATION OF FOLDED PLATE GIRDERS AND SLAB JOINTS USED IN MODULAR CONSTRUCTION

The folded plate girder, a newly proposed bridge girder, is investigated through this thesis. The folded plate girder is cold bent out of a single sheet of steel. The cold bending eliminates the costly and inconsistent shop welds found in traditional girders. The folded plate girder is meant for application in short span bridges. The girder was subjected to an equivalent 75 year lifetime loading to investigate the fatigue performance. The rebar detail used in the closure region between adjacent slabs has been investigated in the past by the NCHRP 12-68 project. This thesis will proposes a hooked rebar detail as a cost effective alternative to the previously recommended headed rebar detail. The proposed hooked rebar detail looks to improve upon the headed bar detail by increasing the clear cover, and reducing the cost of fabrication and shipment of the rebar. Six specimens containing closure regions are subjected to both positive and negative moment loading in order to investigate their behavior and failure modes under ultimate load.