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Theoretical and Experimental Analysis of In Vivo Wheeled Mobility

[+] Author Affiliations
Mark Rentschler, Jason Dumpert, Adnan Hadzialic, Stephen R. Platt, Shane Farritor

University of Nebraska at Lincoln, Lincoln, NE

Dmitry Oleynikov

University of Nebraska Medical Center, Omaha, NE

Karl Iagnemma

Massachusetts Institute of Technology, Cambridge, MA

Paper No. DETC2004-57468, pp. 1241-1249; 9 pages
  • ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B
  • Salt Lake City, Utah, USA, September 28–October 2, 2004
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4695-4 | eISBN: 0-7918-3742-4
  • Copyright © 2004 by ASME


Laparoscopy is abdominal surgery performed with long tools inserted through small incisions. The use of small incisions reduces patient trauma, but also eliminates the surgeon’s ability to directly view and touch the surgical environment. These limitations generally restrict the application of laparoscopy to less complex procedures. Large robots external to the patient have been used to aid in the manipulation of the tools and improve dexterity. This paper presents a theoretical and experimental analysis of miniature in vivo robots. The objective is to develop a wireless mobile imaging robot that can be placed inside the abdominal cavity during surgery. Such robots will allow the surgeon to view the surgical environment from multi-angles. The motion of these in vivo robots will not be constrained by the insertion incisions.

Copyright © 2004 by ASME



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