An In Vivo Mobile Robot for Surgical Vision and Task Assistance

[+] Author and Article Information
Mark E. Rentschler

Department of Mechanical Engineering,  University of Nebraska, Lincoln, NE 68588markrentschler@gmail.com

Jason Dumpert, Stephen R. Platt, Karl Iagnemma, Dmitry Oleynikov, Shane M. Farritor

Department of Mechanical Engineering,  University of Nebraska, Lincoln, NE 68588

J. Med. Devices 1(1), 23-29 (Aug 01, 2006) (7 pages) doi:10.1115/1.2355686 History: Received March 17, 2006; Revised August 01, 2006

Current laparoscopic surgical robots are expensive, bulky, and fundamentally constrained by the small entry incisions. A potential new approach to minimally invasive surgery is to place the robot completely within the patient. We have developed several such miniature mobile robots and conducted tests during animal surgeries. These robots can provide vision and task assistance to the surgeon without being constrained by the entry port. We used a mobile biopsy and camera robot to sample hepatic tissue from an anesthetized porcine animal model. This successful test demonstrated the capability of performing a single port laparoscopic biopsy procedure. In the future, a family of such robots could be remotely controlled and used to perform surgical procedures without the need for conventional laparoscopic tools.

Copyright © 2007 by American Society of Mechanical Engineers
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Figure 1

15mm in vivo mobile robot prototype design

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Figure 2

Mobile in vivo biopsy and camera robot

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Figure 3

Mobile robot component design and layout

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Figure 4

Biopsy grasper design schematic

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Figure 5

CAD design of the biopsy actuation mechanism

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Figure 6

Biopsy tool used to measure in vivo biopsy clamping forces: (a) biopsy tool to measure clamping forces, (b) biopsy tool schematic

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Figure 7

Measured cutting forces for biopsy of porcine liver

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Figure 8

Measured extraction force of bovine liver biopsy

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Figure 9

Actuation mechanism implemented on the biopsy robot: (a) biopsy force measurement jig, (b) biopsy force measurement jig schematic

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Figure 10

Clamping force produced by the biopsy mechanism

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Figure 11

Drawbar force produced by the mobile robot

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Figure 12

Path traced by the 15mm mobile robot during porcine testing

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Figure 13

View from the laparoscope during the removal of a gallbladder during animal surgery

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Figure 14

View from the mobile camera robot during gallbladder removal

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Figure 15

View from laparoscope of robotic biopsy of hepatic tissue

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Figure 16

View from laparoscope of the hepatic tissue taken during biopsy




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