Date of Award

Spring 1-1-2012

Document Type


Degree Name

Doctor of Philosophy (PhD)


Mechanical Engineering

First Advisor

Mark E. Rentschler

Second Advisor

Mark Borden

Third Advisor

Hang J. Qi

Fourth Advisor

Martini L. Dunn

Fifth Advisor

Jonathan A. Schoen


The application of miniature, in vivo wheeled surgical robots placed inside the abdominal cavities may improve and expand the application of minimally invasive surgery (MIS). Study of robotic mobility is necessary to advance this work by providing good criteria for performance evaluation of wheel pattern design strategies. The research reported aims at the development of an analytical base model of rolling motion on tissue and verification of model effectiveness through experimental and computational methods. The results derived in this work are anticipated to be used as the foundation of a more detailed and specific analytical model, and provide guidance for future wheel pattern design of in vivo surgical robots.