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Please use this identifier to cite or link to this item: http://repository.iitr.ac.in/handle/123456789/26325
Title: Forward kinematic analysis of in-vivo robot for stomach biopsy
Authors: Sutar M.K.
Pathak, Pushparaj Mani
Sharma A.K.
Mehta N.K.
Gupta V.K.
Published in: Journal of Robotic Surgery
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. © 2012 Springer-Verlag London Ltd.
Citation: Journal of Robotic Surgery, 7(3): 281-287
URI: https://doi.org/10.1007/s11701-012-0375-y
http://repository.iitr.ac.in/handle/123456789/26325
Issue Date: 2013
Keywords: Forward kinematic analysis
Hyper-redundant
In-vivo robot
Wire actuation
ISSN: 18632483
Author Scopus IDs: 36107408200
8386080200
57226517284
7201738732
57225942080
Author Affiliations: Sutar, M.K., Mechanical and Industrial Engineering Department, IIT Roorkee, Roorkee, 247667, India
Pathak, P.M., Mechanical and Industrial Engineering Department, IIT Roorkee, Roorkee, 247667, India
Sharma, A.K., Mechanical and Industrial Engineering Department, IIT Roorkee, Roorkee, 247667, India
Mehta, N.K., Mechanical and Industrial Engineering Department, IIT Roorkee, Roorkee, 247667, India
Gupta, V.K., Vinay Nursing Home, Roorkee, 247667, India
Funding Details: Acknowledgments We render our sincere gratitude to the Department of Science and Technology of Government of India for sponsoring this research (Scheme Grant Code SR/S3/MERC/048/2009). SR/S3/MERC/048/2009
Corresponding Author: Sutar, M. K.; Mechanical and Industrial Engineering Department, , Roorkee, 247667, India; email: mihirkumarsutar@yahoo.in
Appears in Collections:Journal Publications [ME]

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