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Please use this identifier to cite or link to this item: http://repository.iitr.ac.in/handle/123456789/26506
Title: Design and development of in vivo robot for biopsy
Authors: Garg A.
Vikram C.S.
Gupta S.
Sutar M.K.
Pathak, Pushparaj Mani
Mehta N.K.
Sharma A.K.
Gupta V.K.
Published in: Mechanics Based Design of Structures and Machines
Abstract: In vivo robot is an emerging medical technology that could greatly help biopsy and surgery. This paper proposes to design and develop a miniature in vivo robot for biopsy as an add-on to the current endoscope. To allow more dexterity and flexibility, a four degree of freedom (DOF) robot manipulator is proposed. Accordingly, a wire actuated robot with articulated links like in a snake robot has been conceptualized. The robot was mathematically modeled and designed. To test the design, a 4-scaled aluminum model was manufactured. The kinematics of the model is verified experimentally. The four degree of freedom of the miniature robot are: a linear motion of the flexible shaft (first DOF); an axial rotation of the flexible shaft (second DOF); planar through differential wire movement (third DOF); and a combined wire motion for clipper action to take biopsy (fourth DOF). The proposed robot manipulator was modeled in SolidWorks and the kinematic and dynamic analysis was performed using the Robotics Toolbox in MATLAB. Copyright © 2014 Taylor & Francis Group, LLC.
Citation: Mechanics Based Design of Structures and Machines (2014), 42(3): 278-295
URI: https://doi.org/10.1080/15397734.2014.898587
http://repository.iitr.ac.in/handle/123456789/26506
Issue Date: 2014
Publisher: Taylor and Francis Inc.
Keywords: Biopsy
Degrees of freedom
Dexterity
In-vivo robot
Robotics toolbox
ISSN: 15397734
Author Scopus IDs: 57211901151
56178536500
57226094456
36107408200
8386080200
7201738732
55434064300
57225942080
Author Affiliations: Garg, A., Robotics and Control Laboratory, Mechanical and Industrial Engineering Department, Indian Institute of Technology Roorkee, Roorkee, India
Vikram, C.S., Robotics and Control Laboratory, Mechanical and Industrial Engineering Department, Indian Institute of Technology Roorkee, Roorkee, India
Gupta, S., Robotics and Control Laboratory, Mechanical and Industrial Engineering Department, Indian Institute of Technology Roorkee, Roorkee, India
Sutar, M.K., Robotics and Control Laboratory, Mechanical and Industrial Engineering Department, Indian Institute of Technology Roorkee, Roorkee, India
Pathak, P.M., Robotics and Control Laboratory, Mechanical and Industrial Engineering Department, Indian Institute of Technology Roorkee, Roorkee, India
Mehta, N.K., Robotics and Control Laboratory, Mechanical and Industrial Engineering Department, Indian Institute of Technology Roorkee, Roorkee, India
Sharma, A.K., Robotics and Control Laboratory, Mechanical and Industrial Engineering Department, Indian Institute of Technology Roorkee, Roorkee, India
Gupta, V.K., Vinay Nursing Home, Roorkee, India
Funding Details: Authors render their sincere gratitude to the Department of Science and Technology of Government of India to sponsor this research (Scheme Grant Code SR/S3/MERC/048/2009). SR/S3/MERC/048/2009
Corresponding Author: Sutar, M.K.; Robotics and Control Laboratory, Mechanical and Industrial Engineering Department, Indian Institute of Technology Roorkee, Roorkee, India; email: mihirkumarsutar@yahoo.in
Appears in Collections:Conference Publications [ME]

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