Mobile in vivo biopsy robot

Mark E. Rentschier, Jason Dumpert, Stephen R. Platt, Dmitry Oleynikov, Shane M. Farritor, Karl Iagnemma

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

18 Scopus citations


A mobile in vivo camera robot was developed to provide the ability for a single port biopsy procedure. Such a robot can be inserted into the abdominal cavity through a standard trocar. The surgeon controls the robot using visual feedback from the on-board camera. Measurements were made to identify the forces required to successfully biopsy in vivo tissue, including clamping and tearing forces. The robot design was developed around these parameters and the need to traverse the abdominal environment using specially designed wheels. This mobility allows the biopsy robot to move to the area of interest to sample specific tissues. The lead-screw linkage system that actuated the graspers allows for large force production through careful mechanical design. In vivo testing of this system in a porcine (pig) model has been successful. The robot is capable of traversing the entire in vivo abdominal environment and has successfully been used to biopsy hepatic tissue. In addition, experimental analysis of the biopsy mechanism shows good results towards more elaborate tissue manipulation in the future.

Original languageEnglish (US)
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Number of pages6
StatePublished - 2006
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: May 15 2006May 19 2006

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729


Conference2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Country/TerritoryUnited States
CityOrlando, FL


  • Biopsy
  • Cutting force
  • In vivo
  • Laparoscopy
  • Surgical robots

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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