The introduction of robotic medical assistance in biopsy and stomach cavity exploration is one of the most important milestones in the field of medical science. The research is still in its infancy and many issues like limitations in dexterity, control, and abdominal cavity vision are the main concerns of many researchers around the globe. This paper presents the design aspects and the kinematic analysis of a 4 degrees of freedom (DOF) hyper-redundant in-vivo robot for stomach biopsy. The proposed robot will be inserted through the tool channel of a conventional 4-DOF endoscope and this will increase the dexterity and ease in reaching the furthest parts of the stomach beyond the duodenum. Unlike the traditional biopsy tool, the present design will enhance dexterity due to its 4 DOF in addition to the endoscope's DOF. The endoscope will be positioned at the entrance to the stomach in the esophagus and the robot will move to the desired position inside the stomach for biopsy and exploration. The current robot is wire-actuated and possesses better maneuverability. The forward kinematic analysis of the proposed robot is presented in this paper.

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The objective of this paper is to perform free vibration analysis of a cracked cantilever and to analyze the relation between the modal natural frequency with crack depth, modal natural frequency with crack location. Also the relation among the crack depth, crack location and natural frequency has been analyzed. Only single cracks at different depths and at different locations are evaluated. And the analysis reveals a relationship between crack depth and modal natural frequency. As we know when a structure suffers from damage its dynamic property can change and it was observed that cracks caused a stiffness reduction with an inherent reduction in modal natural frequencies. Consequently it leads to the change in the dynamic response of the beam. The analysis was performed using ALGOR software. Modal natural frequency was found to be decreasing with increases in crack depth. And the same was found to be increasing with increases in crack location from the fixed end.

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