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Special Section Technical Briefs

Semi-Autonomous Locomotion for Diagnostic Endoscopy Device1

[+] Author and Article Information
Hossein Dehghani, Abolfazl Pourghodrat

Department of Mechanical and Materials Engineering,
University of Nebraska–Lincoln,
Lincoln, NE 68588

Benjamin S. Terry, Carl A. Nelson

Department of Mechanical and Materials Engineering,
University of Nebraska–Lincoln,
Lincoln, NE 68588
UNMC Center for Advanced Surgical
Technology (CAST),
University of Nebraska Medical Center,
Omaha, NE 68198

Dmitry Oleynikov

UNMC Center for Advanced Surgical
Technology (CAST),
University of Nebraska Medical Center,
Omaha, NE 68198

Prithviraj Dasgupta

Computer Science Department,
University of Nebraska at Omaha,
Omaha, NE 68198

Accepted and presented at The Design of Medical Devices Conference (DMD2015), April 13–16, 2015, Minneapolis, MN, USA.

Manuscript received March 3, 2015; final manuscript received March 17, 2015; published online July 16, 2015. Editor: Arthur Erdman.

J. Med. Devices 9(3), 030931 (Sep 01, 2015) (2 pages) Paper No: MED-15-1087; doi: 10.1115/1.4030562 History: Received March 03, 2015; Revised March 17, 2015; Online July 16, 2015

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References

Figures

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Fig. 5

Robot in porcine colon

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Fig. 4

Testing in synthetic tissue: U-shaped path (left), sharp bend (right)

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Fig. 3

Testing in straight path

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Fig. 2

Colonoscope components: (a) clamshell structure, (b) sealing mechanism, (c) packed tube around the shaft, and (d) anal fixture

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Fig. 1

Modified version of the robot

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