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

First Page Preview

View Large
First page PDF preview
Copyright © 2013 by ASME
Your Session has timed out. Please sign back in to continue.



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




Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In