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

作者：Harada Kanako^*; Oetomo Denny; Susilo Ekawahyu; Menciassi Arianna; Daney David; Merlet Jean Pierre; Dario Paolo

来源：Robotica, 2010, 28(02): 171-183.

DOI：10.1017/S0263574709990610

• Modular robot
• Surgical robot
• Mechanical design
• Endoluminal surgery
• Interval analysis

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.

• 出版日期2010-3
• 单位INRIA