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Mobile in vivo biopsy robot
University of Nebraska, Lincoln, NE, United States.
University of Nebraska, Lincoln, NE, United States.
University of Nebraska, Lincoln, NE, United States.
University of Nebraska, Lincoln, NE, United States.
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2006 (English)In: Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on, Piscataway: IEEE Press, 2006, 4155-4160 p.Conference paper, Published paper (Refereed)
Abstract [en]

A mobile in vivo camera robot was developed to provide the ability for a single port biopsy procedure. Such a robot can be inserted into the abdominal cavity through a standard trocar. The surgeon controls the robot using visual feedback from the on-board camera. Measurements were made to identify the forces required to successfully biopsy in vivo tissue, including clamping and tearing forces. The robot design was developed around these parameters and the need to traverse the abdominal environment using specially designed wheels. This mobility allows the biopsy robot to move to the area of interest to sample specific tissues. The lead-screw linkage system that actuated the graspers allows for large force production through careful mechanical design. In vivo testing of this system in a porcine (pig) model has been successful. The robot is capable of traversing the entire in vivo abdominal environment and has successfully been used to biopsy hepatic tissue. In addition, experimental analysis of the biopsy mechanism shows good results towards more elaborate tissue manipulation in the future.

Place, publisher, year, edition, pages
Piscataway: IEEE Press, 2006. 4155-4160 p.
Series
IEEE International Conference on Robotics and Automation, ISSN 1050-4729
Keyword [en]
Abdomen, Biopsy, Cameras, Feedback, Force measurement, In vivo, Mobile robots, Robot control, Robot vision systems, Surges, Biological tissues, Couplings, Medical robotics, Mobile robots, Patient diagnosis, Robot vision, Surgery, Abdominal cavity, Abdominal environment traversing, Camera robot, Clamping forces, Graspers, Hepatic tissue biopsy, Lead-screw linkage system, Mobile in vivo biopsy robot, Onboard camera, Porcine model, Single port biopsy procedure, Specially designed wheels, Wearing forces, Tissue manipulation, Visual feedback
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-20818DOI: 10.1109/ROBOT.2006.1642341ISI: 000240886909014Scopus ID: 2-s2.0-33845638419ISBN: 0-7803-9505-0 ISBN: 0780395069 ISBN: 978-078039506-0 OAI: oai:DiVA.org:hh-20818DiVA: diva2:586715
Conference
IEEE International Conference on Robotics and Automation (ICRA), Orlando, FL, MAY 15-19, 2006
Available from: 2013-01-12 Created: 2013-01-12 Last updated: 2013-02-13Bibliographically approved

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CiteExportLink to record
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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
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More styles
Language
  • de-DE
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Output format
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  • asciidoc
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