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.
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ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
September 28–October 2, 2004
Salt Lake City, Utah, USA
Conference Sponsors:
- Design Engineering Division and Computers and Information in Engineering Division
ISBN:
0-7918-4695-4
PROCEEDINGS PAPER
Theoretical and Experimental Analysis of In Vivo Wheeled Mobility
Mark Rentschler,
Mark Rentschler
University of Nebraska at Lincoln, Lincoln, NE
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Jason Dumpert,
Jason Dumpert
University of Nebraska at Lincoln, Lincoln, NE
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Adnan Hadzialic,
Adnan Hadzialic
University of Nebraska at Lincoln, Lincoln, NE
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Stephen R. Platt,
Stephen R. Platt
University of Nebraska at Lincoln, Lincoln, NE
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Shane Farritor,
Shane Farritor
University of Nebraska at Lincoln, Lincoln, NE
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Dmitry Oleynikov,
Dmitry Oleynikov
University of Nebraska Medical Center, Omaha, NE
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Karl Iagnemma
Karl Iagnemma
Massachusetts Institute of Technology, Cambridge, MA
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Mark Rentschler
University of Nebraska at Lincoln, Lincoln, NE
Jason Dumpert
University of Nebraska at Lincoln, Lincoln, NE
Adnan Hadzialic
University of Nebraska at Lincoln, Lincoln, NE
Stephen R. Platt
University of Nebraska at Lincoln, Lincoln, NE
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
Published Online:
June 27, 2008
Citation
Rentschler, M, Dumpert, J, Hadzialic, A, Platt, SR, Farritor, S, Oleynikov, D, & Iagnemma, K. "Theoretical and Experimental Analysis of In Vivo Wheeled Mobility." Proceedings of the 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. pp. 1241-1249. ASME. https://doi.org/10.1115/DETC2004-57468
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