Theoretical and Experimental Analysis of In Vivo Wheeled Mobility

Rentschler, Mark E.; Dumpert, Jason; Hadzialic, Adnan; Platt, S. R.; Farritor, Shane; Oleynikov, Dmitry; Iagnemma, Karl

doi:10.1115/detc2004-57468

Cited by 4 publications

(4 citation statements)

References 11 publications

(17 reference statements)

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“…This robot is 15 mm in diameter and 75 mm in length. Two helical wheels, independently driven by DC motors, are designed to provide sufficient traction without causing tissue damage [5]. A tail prevents the robot from spinning, but allows it to flip when reversing directions.…”

Section: Methodsmentioning

confidence: 99%

Mobile in vivo camera robots provide sole visual feedback for abdominal exploration and cholecystectomy

et al. 2005

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The use of small incisions in laparoscopy reduces patient trauma, but also limits 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. Although current robot-assisted laparoscopy improves the surgeon's ability to manipulate and visualize the target organs, the instruments and cameras remain fundamentally constrained by the entry incisions. This limits tool tip orientation and optimal camera placement. The current work focuses on developing a new miniature mobile in vivo adjustable-focus camera robot to provide sole visual feedback to surgeons during laparoscopic surgery. A miniature mobile camera robot was inserted through a trocar into the insufflated abdominal cavity of an anesthetized pig. The mobile robot allowed the surgeon to explore the abdominal cavity remotely and view trocar and tool insertion and placement without entry incision constraints. The surgeon then performed a cholecystectomy using the robot camera alone for visual feedback. This successful trial has demonstrated that miniature in vivo mobile robots can provide surgeons with sufficient visual feedback to perform common procedures while reducing patient trauma.

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Section: Methodsmentioning

confidence: 99%

Mobile in vivo camera robots provide sole visual feedback for abdominal exploration and cholecystectomy

et al. 2005

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“…This force is a strong function of the normal force between the wheel and the surface, the effective coefficient of friction between the wheel and the surface, and wheel torque [24]. The surface mobility of in vivo robots was previously modeled [38] using the surface interaction model of Filonenko-Borodich [39] for a membrane on an elastic foundation.…”

Section: Elastic Tissue Modelmentioning

confidence: 99%

Modeling, Analysis, and Experimental Study of In Vivo Wheeled Robotic Mobility

et al. 2006

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Abstract-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.

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“…The design of the wheels was based on experimental data from two 'organ models' (14); flat synthetic foam, and bovine liver tissue. The mechanical properties of these models differ greatly from other organs within the abdomen, in particular the small bowel.…”

Section: Intra-abdominal Camerasmentioning

confidence: 99%

Robotic applications in abdominal surgery: their limitations and future developments

Taylor

Jayne

2006

Robotics Computer Surgery

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Background In the past 20 years, the technical aspects of abdominal surgery have changed dramatically. Operations are now routinely performed by laparoscopic techniques utilizing small abdominal incisions, with less patient discomfort, earlier recovery, improved cosmesis, and in many cases reduced economic burden on the healthcare provider. These benefits have largely been seen in the application of laparoscopic techniques to relatively straightforward procedures. It is not clear whether the same benefits carry through to more complex abdominal operations, which are more technically demanding and for which current laparoscopic instrumentation is less well adapted. The aim of surgical robotics is to address these problems and allow the advantages of minimal access surgery to be seen in a greater range of operations.

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Theoretical and Experimental Analysis of In Vivo Wheeled Mobility

Cited by 4 publications

References 11 publications

Mobile in vivo camera robots provide sole visual feedback for abdominal exploration and cholecystectomy

Mobile in vivo camera robots provide sole visual feedback for abdominal exploration and cholecystectomy

Modeling, Analysis, and Experimental Study of In Vivo Wheeled Robotic Mobility

Robotic applications in abdominal surgery: their limitations and future developments

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