Rentschler Mark E, Dumpert Jason, Platt Stephen R, Farritor Shane M, Oleynikov Dmitry
University of Nebraska, Department of Mechanical Engineering, USA.
Stud Health Technol Inform. 2006;119:449-54.
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.
一种可移动的体内活检机器人已被开发出来，用于在远程控制下从腹腔内进行活检。该机器人为有效采集组织样本提供了一个平台。该机器人已在猪模型中用于对肝脏和肠黏膜层的部分组织进行活检。到达指定位置后，启动抓取器对感兴趣的组织进行活检。机器人从腹腔缩回后，从抓取器收集活检标本。本文概述了成功设计体内活检机器人的步骤。介绍了成功活检所需的夹紧力，并讨论了该机器人的体内性能。
