Journal article
A reconfigurable modular robotic endoluminal surgical system: Vision and preliminary results
K Harada, D Oetomo, E Susilo, A Menciassi, D Daney, JP Merlet, P Dario
Robotica | Published : 2010
Abstract
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 platfor..
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Funding Acknowledgements
This work was supported in part by the European Commission, in the framework of the ARES Project(Assembling Reconfiurable Endoluminal Surgical system). The authors Would like to thank Professor Alfred Cuschieri for his medical consultancy. The authors are grateful to Mr. Nicodemo Funaro for the manufacturing of the prototypes and Ms. Sara Condino for her invaluable technical support.