Mobile in vivo biopsy and camera robot

Mark E. Rentschler, Jason Dumpert, Stephen R. Platt, Shane M. Farritor, Dmitry Oleynikov

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Scopus citations


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.

Original languageEnglish (US)
Title of host publicationMedicine Meets Virtual Reality 14 - Accelerating Change in Healthcare
Subtitle of host publicationNext Medical Toolkit, MMVR 2006
PublisherIOS Press
Number of pages6
ISBN (Print)1586035835, 9781586035839
StatePublished - 2006
EventMedicine Meets Virtual Reality 14 - Accelerating Change in Healthcare: Next Medical Toolkit, MMVR 2006 - Long Beach, CA, United States
Duration: Jan 24 2006Jan 27 2006

Publication series

NameStudies in Health Technology and Informatics
ISSN (Print)0926-9630
ISSN (Electronic)1879-8365


ConferenceMedicine Meets Virtual Reality 14 - Accelerating Change in Healthcare: Next Medical Toolkit, MMVR 2006
Country/TerritoryUnited States
CityLong Beach, CA


  • Biopsy
  • In vivo
  • Laparoscopy
  • Mobile
  • Robot

ASJC Scopus subject areas

  • Biomedical Engineering
  • Health Informatics
  • Health Information Management


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