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Small Medical Robot
Abstract
This chapter describes the development of a small medical robot that remains in the abdominal cavity to monitor sites of medical interest and discusses robot travel operations and specifications. A long, narrow piece of ferromagnetic material was placed inside the robot, and an external magnetic field was used to set the robot in motion. The author developed a prototype robot and conducted experiments in order to verify the proposed concept and the principle of steering the robot. In vivo experiments in rabbits demonstrated that solenoids produce sufficient magnetic force to enable the robot to travel through the abdominal cavity, verifying the motion principles. The experiments also confirmed the appropriate shape of the robot, and friction between the robot and the organs and abdominal wall was measured. A modified prototype of the robot was then used to conduct clinical experiments in the rabbit model; a surgeon operated the XYZ axis stages in order to adjust the position of the subject for the experiment and moved the robot to the liver. Robot travel from the insertion point to the liver was verified on X-rays. The long distance was possible due to the improved shape and the use of accurate magnetic field imaging.
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