Providing mobility of miniature, in vivo surgical robots under a variety of changing in vivo conditions is necessary to help expand the application of minimally invasive surgery. Analytical and finite element analysis results of wheeled mobility on tissue inside abdominal cavity are presented here, as a preliminary step towards further improved mobility performance. Results indicate that the mobility of a wheeled robot on tissue is influenced by factors including wheel torque application rate and material relaxation time. While using a viscoelastic standard linear solid material tissue model, the steady state translation speed of the wheel decreases with the increase of material relaxation time given a constant torque application time. Interestingly, at a relaxation time threshold value, the wheel’s steady-state speed no longer decreases, but abruptly undergoes continuous acceleration. Results also indicate that for very small and very large relaxation times the viscoelastic material can be approximated as an elastic material.
Skip Nav Destination
Analysis of Wheel-Tissue Interaction for
ASME 2010 International Mechanical Engineering Congress and Exposition
November 12–18, 2010
Vancouver, British Columbia, Canada
Conference Sponsors:
- ASME
ISBN:
978-0-7918-4446-5
PROCEEDINGS PAPER
Analysis of Wheel-Tissue Interaction for In Vivo Robotic Mobility
H. Jerry Qi,
H. Jerry Qi
University of Colorado, Boulder, CO
Search for other works by this author on:
Mark E. Rentschler
Mark E. Rentschler
University of Colorado, Boulder, CO
Search for other works by this author on:
Xin Wang
University of Colorado, Boulder, CO
H. Jerry Qi
University of Colorado, Boulder, CO
Mark E. Rentschler
University of Colorado, Boulder, CO
Paper No:
IMECE2010-37570, pp. 685-694; 10 pages
Published Online:
April 30, 2012
Citation
Wang, X, Qi, HJ, & Rentschler, ME. "Analysis of Wheel-Tissue Interaction for In Vivo Robotic Mobility." Proceedings of the ASME 2010 International Mechanical Engineering Congress and Exposition. Volume 9: Mechanics of Solids, Structures and Fluids. Vancouver, British Columbia, Canada. November 12–18, 2010. pp. 685-694. ASME. https://doi.org/10.1115/IMECE2010-37570
Download citation file:
9
Views
0
Citations
Related Proceedings Papers
Related Articles
Mechanical Design of Robotic In Vivo Wheeled Mobility
J. Mech. Des (October,2007)
Micropatterned Treads for In Vivo Robotic Mobility
J. Med. Devices (December,2010)
Design Optimization of Single-Port Minimally Invasive Intervention Devices
J. Med. Devices (June,2009)
Related Chapters
Feedback-Aided Minimum Joint Motion
Robot Manipulator Redundancy Resolution
Time-Varying Coefficient Aided MM Scheme
Robot Manipulator Redundancy Resolution
Smart Control for Collective Agents by Adaptive Strategic Mechanism
Intelligent Engineering Systems through Artificial Neural Networks Volume 18