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01-09-2013 | Original Article

Forward kinematic analysis of in-vivo robot for stomach biopsy

Authors: Mihir Kumar Sutar, P. M. Pathak, A. K. Sharma, N. K. Mehta, V. K. Gupta

Published in: Journal of Robotic Surgery | Issue 3/2013

Abstract

The introduction of robotic medical assistance in biopsy and stomach cavity exploration is one of the most important milestones in the field of medical science. The research is still in its infancy and many issues like limitations in dexterity, control, and abdominal cavity vision are the main concerns of many researchers around the globe. This paper presents the design aspects and the kinematic analysis of a 4 degrees of freedom (DOF) hyper-redundant in-vivo robot for stomach biopsy. The proposed robot will be inserted through the tool channel of a conventional 4-DOF endoscope and this will increase the dexterity and ease in reaching the furthest parts of the stomach beyond the duodenum. Unlike the traditional biopsy tool, the present design will enhance dexterity due to its 4 DOF in addition to the endoscope’s DOF. The endoscope will be positioned at the entrance to the stomach in the esophagus and the robot will move to the desired position inside the stomach for biopsy and exploration. The current robot is wire-actuated and possesses better maneuverability. The forward kinematic analysis of the proposed robot is presented in this paper.

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Title: Forward kinematic analysis of in-vivo robot for stomach biopsy
Authors: Mihir Kumar Sutar
P. M. Pathak
A. K. Sharma
N. K. Mehta
V. K. Gupta
Publication date: 01-09-2013
Publisher: Springer London
Published in: Journal of Robotic Surgery / Issue 3/2013
Print ISSN: 1863-2483
Electronic ISSN: 1863-2491
DOI: https://doi.org/10.1007/s11701-012-0375-y

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Forward kinematic analysis of in-vivo robot for stomach biopsy

Abstract

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Abstract

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