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

Rentschler, Mark E.; Dumpert, Jason; Platt, S. R.; Lagnernma, K.; Oleynikov, Dmitry; Farritor, Shane

doi:10.1109/tro.2005.862490

Cited by 54 publications

(27 citation statements)

References 32 publications

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“…As low-cost CMOS technology continues to improve, so will the video quality of these robots. Two recent studies were conducted to determine efficacy of in vivo camera robots versus a standard laparoscopic camera [21] using simulated surgical tasks and color/resolution charts [22]. Results showed no significant difference in performance for the two vision systems.…”

Section: B Other In Vivo Robotsmentioning

confidence: 99%

Miniature in vivo Robots for Remote and Harsh Environments

Rentschler

Platt

Berg

et al. 2008

IEEE Trans. Inform. Technol. Biomed.

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Abstract-Long-term human space exploration will require contingencies for emergency medical procedures including some capability to perform surgery. The ability to perform minimally invasive surgery (MIS) would be an important capability. The use of small incisions reduces surgical risk, but also eliminates the ability of the surgeon to view and touch the surgical environment directly. Robotic surgery, or telerobotic surgery, may provide emergency surgical care in remote or harsh environments such as space flight, or extremely forward environments such as battlefields. However, because current surgical robots are large and require extensive support personnel, their implementation has remained limited in forward environments, and they would be difficult, or impossible, to use in space flight or on battlefields. This paper presents experimental analysis of miniature fixed-base and mobile in vivo robots to support MIS surgery in remote and harsh environments. The objective is to develop wireless imaging and task-assisting robots that can be placed inside the abdominal cavity during surgery. Such robots will provide surgical task assistance and enable an on-site or remote surgeon to view the surgical environment from multiple angles. This approach is applicable to long-duration space flight, battlefield situations, and for traditional medical centers and other remote surgical locations.Index Terms-Extreme and remote environments, in vivo, robots, surgical, telementoring.

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Section: B Other In Vivo Robotsmentioning

confidence: 99%

Miniature in vivo Robots for Remote and Harsh Environments

Rentschler

Platt

Berg

et al. 2008

IEEE Trans. Inform. Technol. Biomed.

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“…Although using a grate reduces the area of the tissue exposed to the vacuum pressure, small projections between the perforations can be used to enhance the grip of the tissue. The use of such tissue engaging features has been used in commercially available cardiac stabilizers, as well as in mobile robotics [5], [7], [10]. Pad 1 had a flat grate with no projections, while Pads 2 through 8 featured projections with varying profiles.…”

Section: B Gripper Pad Designsmentioning

confidence: 99%

“…For this reason, it is critical that the gripper pads be designed to maximize traction when vacuum pressure is applied to the tissue. Although there has been research into the traction of mobile robots in the human body by Rentschler et al, their analysis was for a wheeled vehicle and is thus difficult to adapt here [5]. Additionally, research into grouser sizes and patterns from the areas of terramechanics and field robotics M is difficult to apply to the domain of medical robotics due to the vast differences in the mechanical structures of soil and biological tissue [6], [7].…”

Section: Introductionmentioning

confidence: 99%

Improved Traction for a Mobile Robot Traveling on the Heart

Patronik

Ota

Zenati

et al. 2006

2006 International Conference of the IEEE Engineering in Medicine and Biology Society

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Abstract-This document describes the effects of several design parameters on the traction generated by the suction pads of a mobile robot that walks on the surface of the heart. HeartLander is a miniature mobile robot that adheres to the epicardial surface of the heart using suction, and can travel to any desired location on the heart to administer therapeutic applications. To maximize the effectiveness of locomotion, the gripper pads must provide sufficient traction to avoid slipping. Our testing setup measured the force applied to the gripper pad adhering to ovine epicardial tissue, and recorded overhead video for tracking of the pad and tissue during an extension. By synchronizing the force and video data, we were able to determine the point at which the pad lost traction and slipped during the extension. Of the pads tested, the pad with no suction grate achieved maximum traction. Increasing the extension speed up to 20 mm/s resulted in a corresponding increase in traction. Increasing the vacuum pressure also improved the traction, but the magnitude of the effect was less than the improvement gained from increasing extension speed.

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“…In current robotic platforms the tools, are not manipulated directly by the surgeon anymore, but are held by specialized robot arms and remotely commanded by the surgeon who comfortably sits at an input console, such as in the Intuitive Surgical's da Vinci system (Alterovitz, 2009) and in the RAVEN robotic platform for telesurgery (Lum et al, 2009). An alternative approach is to introduce small robots with embedded actuators inside the body, as demonstrated by several researchers (Rentschler et al, 2006;Hu et al, 2009;Fowler et al, 2010;Lehman et al, 2008;Oleynikov et al, 2005).…”

Section: Introductionmentioning

confidence: 99%

A statically balanced and bi-stable compliant end effector combined with a laparoscopic 2DoF robotic arm

et al. 2012

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Abstract. This article presents the design of a newly developed 2DoF robotic arm with a novel statically balanced and bi-stable compliant grasper as the end effector for laparoscopic surgery application. The arm is based on internal motors actuating 2 rotational DoFs: pitch and roll. The positive stiffness of the monolithic grasper has been compensated using pre-curved straight guided beams that are preloaded collinear with the direction of actuation of the grasper. The result is a fully compliant statically balanced laparoscopic grasper. The grasper has been successfully adapted to a robotic arm. The maximum force and stiffness compensations were measured to be 94 % and 97 % (i.e. near zero stiffness) respectively. Furthermore, the feasibility of adjusting for bi-stable behavior has been shown. This research can be a preliminary step towards the design of a statically balanced fully compliant robotic arm for laparoscopic surgery and similar areas.

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

Cited by 54 publications

References 32 publications

Miniature in vivo Robots for Remote and Harsh Environments

Miniature in vivo Robots for Remote and Harsh Environments

Improved Traction for a Mobile Robot Traveling on the Heart

A statically balanced and bi-stable compliant end effector combined with a laparoscopic 2DoF robotic arm

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