Bond Graph Modelling of In Vivo Robot for Biopsy

Endoscopes have been in use for many procedures including limited surgery. And biopsy is one of its very common applications. Existing endoscopes have limitations in number of degrees of freedom. This paper presents a new design of In- Vivo robot. The work presents bond graph model of a robot for taking a biopsy sample inside the stomach. To develop the bond graph model a kinematic analysis is carried out and various transformer modulli required for drawing of bond graph model are evaluated. The developed bond graph model can be used for trajectory or force control of in vivo robots.