Mobile in vivo biopsy and camera robot.

Area of Science:

• Robotics
• Minimally Invasive Surgery
• Biomedical Engineering

Background:

• Traditional biopsy methods can be invasive and challenging for deep abdominal tissues.
• Remote-controlled robotic platforms offer potential for enhanced precision and safety in surgical procedures.

Purpose of the Study:

• To develop and evaluate a mobile in vivo biopsy robot for remote tissue sampling within the abdominal cavity.
• To assess the feasibility and performance of the robot in obtaining biopsy specimens from internal organs.

Main Methods:

• Design and construction of a remotely controlled mobile robotic system for in vivo biopsy.
• In vivo testing in a porcine model, targeting liver and bowel tissues for biopsy.
• Actuation of a grasper mechanism for tissue acquisition and subsequent retrieval of specimens.

Main Results:

• Successful remote-controlled biopsy of liver and bowel mucosa in a porcine model.
• Demonstration of effective tissue sampling using the robotic grasper.
• Presentation of required clamping forces for successful biopsy and in vivo performance data.

Conclusions:

• The developed mobile in vivo biopsy robot provides a viable platform for effective abdominal tissue sampling.
• The robotic system shows promise for minimally invasive biopsy procedures, with successful in vivo application demonstrated.
• Further research into clamping forces and in vivo performance is crucial for clinical translation.