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A reconfigurable modular robotic endoluminal surgical system: vision and preliminary results

Published online by Cambridge University Press:  10 December 2009

Kanako Harada ,
Denny Oetomo ,
Ekawahyu Susilo ,
Arianna Menciassi ,
David Daney ,
Jean-Pierre Merlet  and
Paolo Dario
Kanako Harada*
Affiliation:
CRIM Lab, Scuola Superiore Sant'Anna, Pisa 56025, Italy
Denny Oetomo
Affiliation:
Department of Mechanical Engineering, University of Melbourne, Victoria 3010, Australia Project COPRIN, INRIA Sophia-Antipolis FR-06902, France
Ekawahyu Susilo
Affiliation:
CRIM Lab, Scuola Superiore Sant'Anna, Pisa 56025, Italy The Italian Institute of Technology (IIT), Genova 16163, Italy
Arianna Menciassi
Affiliation:
CRIM Lab, Scuola Superiore Sant'Anna, Pisa 56025, Italy The Italian Institute of Technology (IIT), Genova 16163, Italy
David Daney
Affiliation:
Project COPRIN, INRIA Sophia-Antipolis FR-06902, France
Jean-Pierre Merlet
Affiliation:
Project COPRIN, INRIA Sophia-Antipolis FR-06902, France
Paolo Dario
Affiliation:
CRIM Lab, Scuola Superiore Sant'Anna, Pisa 56025, Italy
*
*Corresponding author. E-mail: k.harada@sssup.it
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Summary

Miniaturized surgical devices are promising for the future development of minimally invasive and endoluminal surgery. However, the dexterity and therapeutic functions of these devices are limited. In this paper, a reconfigurable modular robotic system is proposed to perform screening and interventions in the gastrointestinal tract. In the proposed system, millimeter-sized robotic modules are ingested and tasked to assemble into an articulated mechanism in the stomach cavity. The modules are assembled according to the target location to perform precise intervention. Based on this concept, a preliminary report is presented covering the robotic schemes for the endoluminal reconfigurable platform, the design with structural functions, the control strategy, and the interval-based constraint satisfaction algorithm to determine the suitable topologies of the reconfigurable robot for the given task.

Keywords

Modular robotSurgical robotMechanical designEndoluminal surgeryInterval analysis
Type
Article
Information
Robotica , Volume 28 , Special Issue 2: Surgical Robotics: System Development, Application Study and Performance Analysis , March 2010 , pp. 171 - 183
Copyright
Copyright © Cambridge University Press 2009

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