Technical Briefs

Development of a Low-Cost Inspection Arm to Map the Available Workspace Within the Abdominal Cavity

[+] Author and Article Information
Shane Farritor

Department of Mechanical Engineering,
University of Nebraska-Lincoln

Dmitry Oleynikov

Department of Surgery,
University of Nebraska Medical Center

Manuscript received March 15, 2013; final manuscript received April 26, 2013; published online July 3, 2013. Assoc. Editor: Arthur G. Erdman.

J. Med. Devices 7(3), 030918 (Jul 03, 2013) (2 pages) Paper No: MED-13-1073; doi: 10.1115/1.4024507 History: Received March 15, 2013; Revised April 26, 2013

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Copyright © 2013 by ASME
Topics: Inspection , Cavities
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Chen, J., Wu, X., Wang, M. Y., and Li, X., 2013, “3D Shape Modeling Using a Self-Developed Hand-Held 3D Laser Scanner and an Efficient HT-ICP Point Cloud Registration Algorithm,” Optics & Laser Technology, 45, pp. 414–423 [CrossRef]
Hatano, T., Hayakawa, M., Koyama, Y., Gakiya, M., Oda, M., and Ogawa, Y., 1997, “New 3-Dimensional Mapping Device for Cystoscopy,” J. Urology, 158(3), pp. 872–874 [CrossRef]


Grahic Jump Location
Fig. 1

5 DOF Inspection arm that was developed to map the available workspace of the abdominal cavity for surgical devices such as in vivo surgical robots

Grahic Jump Location
Fig. 2

A path was cut into a piece of basswood using a laser cutter, secured inside a peritoneal training model, and was traced

Grahic Jump Location
Fig. 3

The dotted path, traced by the arm's operator through a laparoscopic port, is superimposed over the actual path



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