Engineering Commons^™

On The Application Of Mechanical Vibration In Robotics-Assisted Soft Tissue Intervention, Iman Khalaji

Electronic Thesis and Dissertation Repository

Mechanical vibration as a way of transmitting energy has been an interesting subject to study. While cyclic oscillation is usually associated with fatigue effect, and hence a detrimental factor in failure of structures and machineries, by controlled transmission of vibration, energy can be transferred from the source to the target. In this thesis, the application of such mechanical vibration in a few surgical procedures is demonstrated.

Three challenges associated with lung cancer diagnosis and treatment are chosen for this purpose, namely, Motion Compensation, tumor targeting in lung Needle Insertion and Soft Tissue Dissection:

1. A robotic solution is proposed …

Effects Of Surface Topographies On Heat And Fluid Flows, Hadi Vafadar Moradi

Electronic Thesis and Dissertation Repository

Responses of annular and planar flows to the introduction of grooves on the bounding surfaces have been analyzed. The required spectral algorithms based on the Fourier and Chebyshev expansions have been developed. The difficulties associated with the irregularities of the physical domain have been overcome using either the immersed boundary conditions (IBC) concept or the domain transformation method (DT).

Steady flows in annuli bounded by walls with longitudinal grooves have been studied. Analysis of pressure losses showed that the groove-induced changes can be represented as a superposition of a pressure drop due to a change in the average position of …