Mechanical design of robotic in vivo wheeled mobility

Journal of Mechanical Design

Volumn 129, Issue 10, 2007, Pages 1037-1045

  Rentschler, Mark E ^a   Farritor, Shane M ^a   Iagnemma, Karl D ^b  

^a UNIVERSITY OF NEBRASKA LINCOLN   (United States)

^b Massachusetts Institute of Technology Cambridge   (United States)

Author keywords

Drawbar force; FEA; In vivo; Surgery; Wheeled mobility

Indexed keywords

BIOPSY; FINITE ELEMENT METHOD; MACHINE DESIGN; SURGERY;

DRAWBAR FORCE; HELICAL WHEEL DESIGN; LAPAROSCOPIC SURGERY; WHEELED MOBILITY;

MOBILE ROBOTS;

EID: 35448941929     PISSN: 10500472     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.2757189     Document Type: Article

References (47)

1. Ballantyne, G. H., 2002, "Robotic Surgery, Telerobotic Surgery, Telepresence, and Telementoring," Surg. Endosc, 16, pp. 1389-1402.
2. Kang, H., and Wen, J. T., 2001, "Robotic Assistants Aid Surgeons During Minimally Invasive Procedures," IEEE Eng. Med. Biol. Mag., 20(1), pp. 94-104.
3. Kim, V. B., Chapman, W. H. H., Albrecht, R. J., Bailey, B. M., Young, J. A., Nifong, L. W., and Chitwood, W. R., 2002, "Early Experience With Telemanipulative Robot-Assisted Laparoscopic Cbolecystectomy Using da Vinci," Surg. Laparosc Endosc, 12(1), pp. 33-44.
4. Oleynikov, D., Rentschler, M., Hadzialic, A., Dumpert, J., Platt, S. R., and Farritor, S., 2005, "Miniature Robots Can Assist in Laparoscopic Cholecystectomy," Surg. Endosc, 19, pp. 473-476.
5. Satava, R. M., 2002, "Surgical Robotics: The Early Chronicles," J. Clin. Dent., 12(1), pp. 6-16.
6. Schurr, M. O., Buess, G., Neisius, B., and Voges, U., 2000, "Robotics and Telemanipulation Technologies for Endoscopic Surgery," Surg. Endosc, 14, pp. 375-381.
7. Moorthy, K., Munz, Y., Dosis, A., Hernandez, J., Martin, S., Bello, F., Rockall, T., and Darzi, A., 2004, "Dexterity Enhancement With Robotic Surgery," Surg. Endosc, 18, pp. 790-795.
8. Dakin, G. F., and Gagner, M., 2003, "Comparison of Laparoscopic Skills Performance Between Standard Instruments and Two Surgical Robotic Systems," Surg. Endosc, 17, pp. 574-579.
9. Nio, D., Bemelman, W. A., den Boer, K. T., Dunker, M. S., Gouma, D. J., and van Gulik, T. M., 2002, "Efficiency of Manual vs. Robotical (Zeus) Assisted Laparoscopic Surgery in the Performance of Standardized Tasks," Surg. Endosc, 16, pp. 412-415.
10. Melvin, W. S., Needleman, B. J., Krause, K. R., Schneider, C., and Ellison, E. C., 2002, "Computer-Enhanced vs. Standard Laparscopic Antireflux Surgery," J. Gastrointest Surg., 6, pp. 11-16.
11. Franzino, R. J., 2003, "The Laprotek Surgical System and the Next Generation of Robotics," Surg. Clin. North Am., 83(6), pp. 1317-1320.
12. Choi, D., and Riviere, C., 2005, "Flexure-based Manipulator for Active Hand-held Microsurgical Instrument," Proceedings of the 27th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), pp. 2325-2328.
13. Ang, W., 2004, "Active Tremor Compensation in Handheld Instrument for Microsurgery," Ph.D. thesis, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, Technical Report No. SMU-RI-TR-04-28.
14. Riviere, C., Ang, W., and Khosla, P., 2003, "Toward Active Tremor Canceling in Handheld Microsurgical Instruments," IEEE Trans. Rob. Autom., 15(5), pp. 793-800.
15. Rosen, J., Lum, M., Trimble, D., Hannaford, B., and Sinanan, M., 2005, "Spherical Mechanism Analysis of a Surgical Robot for Minimally Invasive Surgery - Analytical and Experimantal Approaches," Medicine Meets Virtual Reality, JOS Press, Amsterdam, pp. 422-428.
16. Rosen, J., Hannaford, B., MacFarlane, M., and Sinanan, M., 1999, "Force Controlled and Teleoperated Endoscopic Grasper for Minimally Invasive Surgery - Expenimental Performance Evaluation," IEEE Trans. Biomed. Eng., 46, pp. 1212-1221.
17. MacFarlane, M., Rosen, J., Hannaford, B., Pellegrini, C., and Sinanan, M., 1999, "Force Feedback Grasper Helps Restore the Sense of Touch in Minimally Invasive Surgery," J. Gastrointest Surg., 3, pp. 278-285.
18. Fukuda, T., Guo, S., Kosuge, K., Arai, F., Negoro, M., and Nakabayashi, K., 1994, "Micro Active Catheter System With Multi Degrees of Freedom," Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 3, pp. 2290-2295.
19. Suzumori, K., Iikura, S., and Tanaka, H., 1991, "Development of Flexible Microactuator and its Applications to Robotics Mechanisms," Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 2, pp. 1622-16271.
20. Phee, L., Accoto, D., Menciassi, A., Stefanini, C., Carrozza, M., and Dario, P., 2002, "Analysis and Development of Locomotion Devices for the Gastrointestinal Tract," IEEE Trans. Biomed. Eng., 49(6), pp. 613-616.
21. Grundfest, S. W., Burdick, J. W., and Slatkin, A. B., 1995, "The Development of a Robotic Endoscope," Proceedings of the 1995 IEEE International Conference on Robotics and Automation, pp. 162-171.
22. Flynn, A., Udayakumar, K., Barrett, D., McLurkin, J., Franck, D., and Shectman, A., 1995, "Tomorrow's Surgery; Micro-motors and Microrobots for Minimally Invasive Procedures," Minimally Invasive Ther. Allied Technol., 7(4), pp. 343-352.
23. Breedveld, P., 2006, "Development of a Rolling Stent Endoscope," Proceedings of the Biomedical Robotics and Biomechatronics International Conference, pp. 921-926.
24. Glukhovsky, A., and Jacob, H., 2004, "The Development and Application of Wireless Capsule Endoscopy," Int. J. Med. Robot. Comput. Assist. Surgery, 1(1), pp. 114-123.
25. Meron, G., 2000, "The Development of the Swallowable Video Capsule," Gastrointest, Endosc., 6, pp. 817-819.
26. Norika, 2005, http://www.rfnorika.com
27. Olympus, 2004, http://www.letsgodigital.org/en/news/articles/ story_2150.html
28. Smart Pill Corporation, 2005, http://www.smartpilldiagnostics.com
29. Dario, P., Stefanini, C., and Menciassi, A., 2004, "Modeling and Experiments on a Legged Microrobot Locomoting in a Tubular, Compliant and Slippery Environment," Int. Symp. of Experimental Robotics ISER, Singapore, June 18-21.
30. Menciassi, A., Moglia, A., Gorini, S., Pernorio, G., Stefanini, C., and Dario, P., 2005, "Shape Memory Alloy Clamping Devices of a Capsule for Monitoring Tasks in the Gastrointestinal Tract," J. Micromech. Microeng., 15, 2045-2055.
31. Menciassi, A., Stefanini, C., Gorini, S., Pernorio, G., Kim, B., Park, J., and Dario, P., 2004, "Locomotion of a Legged Capsule in the Gastrointestinal Tract: Theoretical Study and Preliminary Technological Results," IEEE Int. Conf. on Engineering in Medicine and Biology, San Francisco, CA, Sept. 1-4.
32. Patronik, N., Zenati, M. A., and Riviere, C., 2005, "Preliminary Evaluation of a Mobile Robotic Device for Navigation and Intervention on the Beating Heart," Comput. Aided Surg., 10(4), pp. 225-232.
33. Patronik, N., Zenati, M. A., and Riviere, C., 2004, "Crawling on the Heart: A Mobile Robotic Device for Minimally Invasive Cardiac Interventions," MICCAI, C. Barillot, D. R. Haynor, and P. Hellier, eds., Springer-Verlag, Berlin, Heidelberg, pp. 9-16.
34. Bekker, M. G., 1960, Off the Road Locomotion, University of Michigan Press, Ann Arbor, MI.
35. Onafeko, O., and Reece, A. R., 1967, "Soil Stresses and Deformations Beneath Rigid Wheel," J. Terramech., 4(1), pp. 59-80.
36. Wong, J., and Reece, A., 1967, "Prediction of Rigid Wheel Performance Based on the Analysis of Soil-Wheel Stresses, Part I. Performance of Driven Rigid Wheels," J. Terramech., 4(1), pp. 81-98.
37. Muro, T., 1993, "Tractive Performance of a Driven Rigid Wheel on Soft Ground Based on the Analysis of Soil-Wheel Interaction," J. Terramech., 30(5), pp. 351-369.
38. Wulfsohn, D., and Upadhyaya, S., 1991, "Fraction of Low-Pressure Pneumatic Tires in Deformable Terrain," SAE Trans., 100(2), pp. 348-363.
39. Saliba, J., 1990, "Elastic-Viscoplastic Finite-Element Program for Modeling Tire/Soil Interaction," J. Aircr., 27(4), pp. 350-357.
40. Hiroma, T., Wanjii, S., Kataoka, T., and Ota, Y., 1997, "Stress Analysis Using FEM on Stress Distribution Under a Wheel Considering Friction With Adhesion Between a Wheel and Soil," J. Terramech., 34(4), pp. 225-233.
41. Rentschler, M., Dumpert, J., Platt, S. R., Iagnemma, K., Oleynikov, D., and Farritor, S., 2006, "Modeling, Analysis, and Experimental Study of In vivo Wheeled Robotic Mobility," IEEE Trans. Rob., 22(2), pp. 308-321.
42. Rentschler, M., 2006, "In vivo Abdominal Surgical Robotics: Tissue Mechanics Modeling, Robotic Design, Experimentation, and Analysis," Ph.D. thesis, University of Nebraska, Lincoln, NE.
43. LS-DYNA, 2003, Livermore Software Technology Corporation, Livermore, CA.
44. Rosen, J., Brown, J. D., Barreca, M., Chang, L., Sinanan, M., and Hannaford, B., 2002, "The BlueDRAGON - A System of Measuring the Kinematics and Dynamics of Minimally Invasive Surgical Instruments In-Vivo," IEEE International Conference on Robotics and Automation, pp. 1876-1881.
45. Rentschler, M., Dumpert, J., Platt, S., Farritor, S., and Oleynikov, D., 2006, "Mobile In Vivo Robots Provide Sole Visual Feedback for Abdominal Exploration and Cholecystectomy," Surg. Endosc, 20(1), pp. 135-138.
46. Rentschler, M., Dumpert, J., Platt, S., Iagnemma, K., Oleynikov, D., and Farritor, S., 2007, "An In Vivo Mobile Robot for Surgical Vision and Task Assistance," ASME J. Med. Devices 1(1), 23-29
47. Rentschler, M., Dumpert, J., Platt, S., Farritor, S., and Oleynikov, D., 2007, "Natural Orifice Surgery With an Endoluminal Mobile Robot," Surg. Endosc 21(7), 1212-1215.