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Modeling, analysis, and experimental study of in vivo wheeled robotic mobility
University of Nebraska Medical Center, Omaha, NE 68198, United States.
Mechanical Engineering Department, University of Nebraska, Lincoln, NE 68588, United States.
Mechanical Engineering Department, University of Nebraska, Lincoln, NE 68588, United States.
Mechanical Engineering Department, Massachusetts Institute of Technology, Cambridge, MA 02139, United States.
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2006 (engelsk)Inngår i: IEEE Transactions on robotics, ISSN 1552-3098, E-ISSN 1941-0468, Vol. 22, nr 2, s. 308-321Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

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 view and touch the surgical environment directly. These limitations generally restrict the application of laparoscopy to procedures less complex than those performed during open surgery. This paper presents a theoretical and experimental analysis of miniature, wheeled, in vivo robots to support laparoscopy. 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 multiple angles. The motion of these in vivo robots will not be constrained by the insertion incisions. Simulation and experimental analyses have led to a wheel design that can attain good mobility performance in in vivo conditions.

sted, utgiver, år, opplag, sider
Piscataway: IEEE Robotics and Automation Society, 2006. Vol. 22, nr 2, s. 308-321
Emneord [en]
In vivo, Laparoscopy, Liver biomechanics, Surgical robots, Wheeled mobility
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Identifikatorer
URN: urn:nbn:se:hh:diva-20783DOI: 10.1109/TRO.2005.862490ISI: 000236776800008Scopus ID: 2-s2.0-33645819193OAI: oai:DiVA.org:hh-20783DiVA, id: diva2:586720
Tilgjengelig fra: 2013-01-12 Laget: 2013-01-12 Sist oppdatert: 2018-03-22bibliografisk kontrollert

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