Technical Briefs

Gross Positioning System for In Vivo Surgical Devices

[+] 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 29, 2013; published online July 3, 2013. Assoc. Editor: Arthur G. Erdman.

J. Med. Devices 7(3), 030922 (Jul 03, 2013) (2 pages) Paper No: MED-13-1077; doi: 10.1115/1.4024523 History: Received March 15, 2013; Revised April 29, 2013

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Copyright © 2013 by ASME
Topics: Surgery
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Grahic Jump Location
Fig. 1

A “cardboard” model of the four degree of freedom gross positioning system with a miniature in vivo surgical robot attached. The axis of rotation or translation for each degree of freedom is shown in red. The inserction point is depicted by the intersecting axes, along the prismatic joint, D4.

Grahic Jump Location
Fig. 2

Proof of concept benchtop testing of the gross positioning system with the fundamentals of laparoscopic surgery (FLS) peg transfer task. The visual feedback provided to the operator is shown on the top right.



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