Mobile in vivo biopsy and camera robot
Rentschler, M.E.; Dumpert, J.; Platt, S.R.; Farritor, S.M.; Oleynikov, D.
Studies in Health Technology and Informatics 119: 449-454
2006
ISSN/ISBN: 0926-9630 PMID: 16404097 Document Number: 603230
A mobile in vivo biopsy robot has been developed to perform a biopsy from within the abdominal cavity while being remotely controlled. This robot provides a platform for effectively sampling tissue. The robot has been used in vivo in a porcine model to biopsy portions of the liver and mucosa layer of the bowel. After reaching the specified location, the grasper was actuated to biopsy the tissue of interest. The biopsy specimens were gathered from the grasper after robot retraction from the abdominal cavity. This paper outlines the steps towards the successful design of an in vivo biopsy robot. The clamping forces required for successful biopsy are presented and in vivo performance of this robot is addressed.