Laparoscopy is abdominal surgery performed with long tools inserted through small incisions. The use of small incisions reduces patient trauma, but also eliminates the surgeon’s ability to directly view and touch the surgical environment. These limitations generally restrict the application of laparoscopy to less complex procedures. Large robots external to the patient have been used to aid in the manipulation of the tools and improve dexterity. This paper presents a theoretical and experimental analysis of miniature in vivo robots. The objective is to develop a wireless mobile imaging robot that can be placed inside the abdominal cavity during surgery. Such robots will allow the surgeon to view the surgical environment from multi-angles. The motion of these in vivo robots will not be constrained by the insertion incisions.

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