ICRA'09 Paper Abstract


Paper FrC12.4

Harada, Kanako (Scuola Superiore Sant'Anna), Susilo, Ekawahyu (Scuola Superiore Sant'Anna), Menciassi, Arianna (Scuola Superiore Sant'Anna - SSSA), Dario, Paolo (Scuola Superiore Sant'Anna)

Wireless Reconfigurable Modules for Robotic Endoluminal Surgery

Scheduled for presentation during the Regular Sessions "Medical Robotics - I" (FrC12), Friday, May 15, 2009, 14:30−14:50, Room: 504

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Medical Robots and Systems, Cellular and Modular Robots


In this paper, a reconfigurable modular robotic system is proposed to augment the dexterity of endoluminal interventions in the gastrointestinal tract. In the proposed system, miniaturized robotic modules are ingested and assembled in the stomach cavity. The assembled robot can change its configuration according to the target location, thus enabling complicated surgical tasks. The robotic assembly, the robotic configuration and the surgical tasks are controlled via wireless bidirectional communication. Based on this concept, early prototypes of the robotic modules were designed and fabricated. The developed module has 2DOF (90 of bending and 360 of rotation), measures 15.4 mm in diameter and 36.5 mm in length. It weighs 5.6 g and contains a Li-Po battery, two brushless DC motors, and a custom-made control board capable of wireless communication. The performance of the bending and rotational motion was evaluated and the future work has been discussed.



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