A reconfigurable modular robotic endoluminal surgical system: vision and preliminary results
A reconfigurable modular robotic endoluminal surgical system: vision and preliminary results
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DOI：
10.1017/s0263574709990610
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发表时间：
2010-03-01
期刊：
影响因子：
2.7
通讯作者：
Dario, Paolo
中科院分区：
文献类型：
--
作者：
Harada, Kanako;Oetomo, Denny;Dario, Paolo
微型外科器械是未来微创和腔内外科的发展方向。然而，这些设备的灵活性和治疗功能是有限的。本文提出了一种可重构的模块化机器人系统，用于胃肠道的筛查和干预。在拟议的系统中，毫米大小的机器人模块被摄取并被任务组装成胃腔中的关节机构。根据目标位置组装模块，进行精确干预。基于这一概念，给出了一份初步报告，内容包括腔内可重构平台的机器人方案、结构功能的设计、控制策略以及确定满足给定任务的可重构机器人的拓扑结构的基于区间的约束满足算法。
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.