Technical Briefs

Accelerometer Based Absolute Positioning for a Miniature In-Vivo Surgical Robot

[+] Author and Article Information
Shane Farritor

Department of Mechanical and Materials 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), 030919 (Jul 03, 2013) (2 pages) Paper No: MED-13-1074; doi: 10.1115/1.4024512 History: Received March 15, 2013; Revised April 26, 2013

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Muller, E. M., et al. ., “Training for Laparoendoscopic Single-Site Surgery (LESS).” International Journal of Surgery, 2010
Wortman, T. D., Lehman, A. C., McCormick, R. L., Farritor, S. M., and Oleynikov, D., 2011, “Miniature Surgical Robot for Laparoendoscopic Single-Incision Colectomy,” Annual Meeting-SAGES, San Antonio, TX.
Syed, Z. F., Aggarwal, P., Goodall, C., Niu, X., and El-Sheimy, N., 2007, “A New Multi-Postion Calibration Method for MEMS Inertial Navigation Systems,” Measurement Science and Technology, Vol. 18.


Grahic Jump Location
Fig. 3

Effect of the pitch angle on the yaw angle accuracy of joints 2 and 3

Grahic Jump Location
Fig. 2

Error of the calculated pitch angle compared to the actual pitch angle from the absolute encoder readings

Grahic Jump Location
Fig. 1

A non-motorized robotic arm was created to determine the accuracy of calculating the absolute joint angles from accelerometer data



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