A reconfigurable modular robotic endoluminal surgical system: vision and preliminary results
Identifieur interne : 001A73 ( Istex/Corpus ); précédent : 001A72; suivant : 001A74A reconfigurable modular robotic endoluminal surgical system: vision and preliminary results
Auteurs : Kanako Harada ; Denny Oetomo ; Ekawahyu Susilo ; Arianna Menciassi ; David Daney ; Jean-Pierre Merlet ; Paolo DarioSource :
- Robotica [ 0263-5747 ] ; 2010-03.
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 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.
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DOI: 10.1017/S0263574709990610
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Ekawahyu" uniqKey="Susilo E" first="Ekawahyu" last="Susilo">Ekawahyu Susilo</name><affiliation><mods:affiliation>CRIM Lab, Scuola Superiore Sant'Anna, Pisa 56025, Italy</mods:affiliation></affiliation><affiliation><mods:affiliation>The Italian Institute of Technology (IIT), Genova 16163, Italy</mods:affiliation></affiliation></author><author><name sortKey="Menciassi, Arianna" sort="Menciassi, Arianna" uniqKey="Menciassi A" first="Arianna" last="Menciassi">Arianna Menciassi</name><affiliation><mods:affiliation>CRIM Lab, Scuola Superiore Sant'Anna, Pisa 56025, Italy</mods:affiliation></affiliation><affiliation><mods:affiliation>The Italian Institute of Technology (IIT), Genova 16163, Italy</mods:affiliation></affiliation></author><author><name sortKey="Daney, David" sort="Daney, David" uniqKey="Daney D" first="David" last="Daney">David Daney</name><affiliation><mods:affiliation>Project COPRIN, INRIA Sophia-Antipolis FR-06902, France</mods:affiliation></affiliation></author><author><name sortKey="Merlet, Jean Pierre" sort="Merlet, Jean Pierre" uniqKey="Merlet J" first="Jean-Pierre" last="Merlet">Jean-Pierre Merlet</name><affiliation><mods:affiliation>Project COPRIN, INRIA Sophia-Antipolis FR-06902, France</mods:affiliation></affiliation></author><author><name sortKey="Dario, Paolo" sort="Dario, Paolo" uniqKey="Dario P" first="Paolo" last="Dario">Paolo Dario</name><affiliation><mods:affiliation>CRIM Lab, Scuola Superiore Sant'Anna, Pisa 56025, Italy</mods:affiliation></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">ISTEX</idno><idno type="RBID">ISTEX:8D8EF226DA6ED89ACDA60D2EACC6B64C35F83994</idno><date when="2009" year="2009">2009</date><idno type="doi">10.1017/S0263574709990610</idno><idno type="url">https://api.istex.fr/document/8D8EF226DA6ED89ACDA60D2EACC6B64C35F83994/fulltext/pdf</idno><idno type="wicri:Area/Istex/Corpus">001A73</idno><idno type="wicri:explorRef" wicri:stream="Istex" wicri:step="Corpus" 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sort="Susilo, Ekawahyu" uniqKey="Susilo E" first="Ekawahyu" last="Susilo">Ekawahyu Susilo</name><affiliation><mods:affiliation>CRIM Lab, Scuola Superiore Sant'Anna, Pisa 56025, Italy</mods:affiliation></affiliation><affiliation><mods:affiliation>The Italian Institute of Technology (IIT), Genova 16163, Italy</mods:affiliation></affiliation></author><author><name sortKey="Menciassi, Arianna" sort="Menciassi, Arianna" uniqKey="Menciassi A" first="Arianna" last="Menciassi">Arianna Menciassi</name><affiliation><mods:affiliation>CRIM Lab, Scuola Superiore Sant'Anna, Pisa 56025, Italy</mods:affiliation></affiliation><affiliation><mods:affiliation>The Italian Institute of Technology (IIT), Genova 16163, Italy</mods:affiliation></affiliation></author><author><name sortKey="Daney, David" sort="Daney, David" uniqKey="Daney D" first="David" last="Daney">David Daney</name><affiliation><mods:affiliation>Project COPRIN, INRIA Sophia-Antipolis FR-06902, France</mods:affiliation></affiliation></author><author><name sortKey="Merlet, Jean Pierre" sort="Merlet, Jean Pierre" uniqKey="Merlet J" first="Jean-Pierre" last="Merlet">Jean-Pierre Merlet</name><affiliation><mods:affiliation>Project COPRIN, INRIA Sophia-Antipolis FR-06902, France</mods:affiliation></affiliation></author><author><name sortKey="Dario, Paolo" sort="Dario, Paolo" uniqKey="Dario P" first="Paolo" last="Dario">Paolo Dario</name><affiliation><mods:affiliation>CRIM Lab, Scuola Superiore Sant'Anna, Pisa 56025, Italy</mods:affiliation></affiliation></author></analytic><monogr></monogr><series><title level="j">Robotica</title><title level="j" type="abbrev">Robotica</title><idno type="ISSN">0263-5747</idno><idno type="eISSN">1469-8668</idno><imprint><publisher>Cambridge University Press</publisher><pubPlace>Cambridge, UK</pubPlace><date type="published" when="2010-03">2010-03</date><biblScope unit="volume">28</biblScope><biblScope unit="issue">2</biblScope><biblScope unit="page" 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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.</div></front></TEI><istex><corpusName>cambridge</corpusName><author><json:item><name>Kanako Harada</name><affiliations><json:string>CRIM Lab, Scuola Superiore Sant'Anna, Pisa 56025, Italy</json:string><json:string>E-mail: k.harada@sssup.it</json:string></affiliations></json:item><json:item><name>Denny Oetomo</name><affiliations><json:string>Department of Mechanical Engineering, University of Melbourne, Victoria 3010, Australia</json:string><json:string>Project COPRIN, INRIA Sophia-Antipolis FR-06902, France</json:string></affiliations></json:item><json:item><name>Ekawahyu Susilo</name><affiliations><json:string>CRIM Lab, Scuola Superiore Sant'Anna, Pisa 56025, Italy</json:string><json:string>The Italian Institute of Technology (IIT), Genova 16163, Italy</json:string></affiliations></json:item><json:item><name>Arianna Menciassi</name><affiliations><json:string>CRIM Lab, Scuola Superiore Sant'Anna, Pisa 56025, Italy</json:string><json:string>The Italian Institute of Technology (IIT), Genova 16163, Italy</json:string></affiliations></json:item><json:item><name>David Daney</name><affiliations><json:string>Project COPRIN, INRIA Sophia-Antipolis FR-06902, France</json:string></affiliations></json:item><json:item><name>Jean-Pierre Merlet</name><affiliations><json:string>Project COPRIN, INRIA Sophia-Antipolis FR-06902, France</json:string></affiliations></json:item><json:item><name>Paolo Dario</name><affiliations><json:string>CRIM Lab, Scuola Superiore Sant'Anna, Pisa 56025, Italy</json:string></affiliations></json:item></author><subject><json:item><lang><json:string>eng</json:string></lang><value>Modular robot</value></json:item><json:item><lang><json:string>eng</json:string></lang><value>Surgical robot</value></json:item><json:item><lang><json:string>eng</json:string></lang><value>Mechanical design</value></json:item><json:item><lang><json:string>eng</json:string></lang><value>Endoluminal surgery</value></json:item><json:item><lang><json:string>eng</json:string></lang><value>Interval analysis</value></json:item></subject><articleId><json:string>99061</json:string></articleId><arkIstex>ark:/67375/6GQ-094S7XFK-S</arkIstex><language><json:string>eng</json:string></language><originalGenre><json:string>research-article</json:string></originalGenre><abstract>Miniaturized surgical devices are promising for the future development of minimally invasive and endoluminal surgery. 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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.</abstract><qualityIndicators><score>8.488</score><pdfWordCount>7722</pdfWordCount><pdfCharCount>46988</pdfCharCount><pdfVersion>1.3</pdfVersion><pdfPageCount>13</pdfPageCount><pdfPageSize>595.276 x 841.89 pts (A4)</pdfPageSize><refBibsNative>true</refBibsNative><abstractWordCount>124</abstractWordCount><abstractCharCount>904</abstractCharCount><keywordCount>5</keywordCount></qualityIndicators><title>A reconfigurable modular robotic endoluminal surgical system: vision and preliminary 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robotic endoluminal surgical system: vision and preliminary results</title><author xml:id="author-0000" corresp="yes"><persName><forename type="first">Kanako</forename><surname>Harada</surname></persName><email>k.harada@sssup.it</email><affiliation>CRIM Lab, Scuola Superiore Sant'Anna, Pisa 56025, Italy</affiliation></author><author xml:id="author-0001"><persName><forename type="first">Denny</forename><surname>Oetomo</surname></persName><affiliation>Department of Mechanical Engineering, University of Melbourne, Victoria 3010, Australia</affiliation><affiliation>Project COPRIN, INRIA Sophia-Antipolis FR-06902, France</affiliation></author><author xml:id="author-0002"><persName><forename type="first">Ekawahyu</forename><surname>Susilo</surname></persName><affiliation>CRIM Lab, Scuola Superiore Sant'Anna, Pisa 56025, Italy</affiliation><affiliation>The Italian Institute of Technology (IIT), Genova 16163, Italy</affiliation></author><author xml:id="author-0003"><persName><forename type="first">Arianna</forename><surname>Menciassi</surname></persName><affiliation>CRIM Lab, Scuola Superiore Sant'Anna, Pisa 56025, Italy</affiliation><affiliation>The Italian Institute of Technology (IIT), Genova 16163, Italy</affiliation></author><author xml:id="author-0004"><persName><forename type="first">David</forename><surname>Daney</surname></persName><affiliation>Project COPRIN, INRIA Sophia-Antipolis FR-06902, France</affiliation></author><author xml:id="author-0005"><persName><forename type="first">Jean-Pierre</forename><surname>Merlet</surname></persName><affiliation>Project COPRIN, INRIA Sophia-Antipolis FR-06902, France</affiliation></author><author xml:id="author-0006"><persName><forename type="first">Paolo</forename><surname>Dario</surname></persName><affiliation>CRIM Lab, Scuola Superiore Sant'Anna, Pisa 56025, Italy</affiliation></author><idno type="istex">8D8EF226DA6ED89ACDA60D2EACC6B64C35F83994</idno><idno type="ark">ark:/67375/6GQ-094S7XFK-S</idno><idno type="DOI">10.1017/S0263574709990610</idno><idno type="PII">S0263574709990610</idno><idno type="article-id">99061</idno></analytic><monogr><title level="j">Robotica</title><title level="j" type="abbrev">Robotica</title><idno type="pISSN">0263-5747</idno><idno type="eISSN">1469-8668</idno><idno type="publisher-id">ROB</idno><imprint><publisher>Cambridge University Press</publisher><pubPlace>Cambridge, UK</pubPlace><date type="published" when="2010-03"></date><biblScope unit="volume">28</biblScope><biblScope unit="issue">2</biblScope><biblScope unit="page" from="171">171</biblScope><biblScope unit="page" to="183">183</biblScope></imprint></monogr></biblStruct></sourceDesc></fileDesc><profileDesc><creation><date>2009-12-10</date></creation><langUsage><language ident="en">en</language></langUsage><abstract style="normal"><p>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.</p></abstract><textClass><keywords scheme="keyword"><list><head>KEYWORDS</head><item><term>Modular robot</term></item><item><term>Surgical robot</term></item><item><term>Mechanical design</term></item><item><term>Endoluminal surgery</term></item><item><term>Interval analysis</term></item></list></keywords></textClass></profileDesc><revisionDesc><change when="2009-12-10">Created</change><change when="2010-03">Published</change></revisionDesc></teiHeader></istex:fulltextTEI></fulltext><metadata><istex:metadataXml wicri:clean="corpus cambridge not found" wicri:toSee="no header"><istex:xmlDeclaration>version="1.0" encoding="US-ASCII"</istex:xmlDeclaration><istex:docType PUBLIC="-//NLM//DTD Journal Publishing DTD v2.2 20060430//EN" URI="journalpublishing.dtd" name="istex:docType"></istex:docType><istex:document><article dtd-version="2.2" article-type="research-article"><front><journal-meta><journal-id journal-id-type="publisher-id">ROB</journal-id><journal-title>Robotica</journal-title><abbrev-journal-title>Robotica</abbrev-journal-title><issn pub-type="ppub">0263-5747</issn><issn pub-type="epub">1469-8668</issn><publisher><publisher-name>Cambridge University Press</publisher-name><publisher-loc>Cambridge, UK</publisher-loc></publisher></journal-meta><article-meta><article-id pub-id-type="doi">10.1017/S0263574709990610</article-id><article-id pub-id-type="pii">S0263574709990610</article-id><article-id pub-id-type="publisher-id">99061</article-id><title-group><article-title>A reconfigurable modular robotic endoluminal surgical system: vision and preliminary results</article-title><alt-title alt-title-type="right-running">Reconfigurable modular robotic endoluminal surgical system</alt-title><alt-title alt-title-type="left-running">Reconfigurable modular robotic endoluminal surgical system</alt-title></title-group><contrib-group><contrib contrib-type="author" corresp="yes"><name><surname>Harada</surname><given-names>Kanako</given-names></name><xref ref-type="aff" rid="aff001">†</xref><xref ref-type="corresp" rid="cor001">*</xref></contrib><contrib contrib-type="author"><name><surname>Oetomo</surname><given-names>Denny</given-names></name><xref ref-type="aff" rid="aff002">‡</xref><xref ref-type="aff" rid="aff003">§</xref></contrib><contrib contrib-type="author"><name><surname>Susilo</surname><given-names>Ekawahyu</given-names></name><xref ref-type="aff" rid="aff001">†</xref><xref ref-type="aff" rid="aff004">¶</xref></contrib><contrib contrib-type="author"><name><surname>Menciassi</surname><given-names>Arianna</given-names></name><xref ref-type="aff" rid="aff001">†</xref><xref ref-type="aff" rid="aff004">¶</xref></contrib><contrib contrib-type="author"><name><surname>Daney</surname><given-names>David</given-names></name><xref ref-type="aff" rid="aff003">§</xref></contrib><contrib contrib-type="author"><name><surname>Merlet</surname><given-names>Jean-Pierre</given-names></name><xref ref-type="aff" rid="aff003">§</xref></contrib><contrib contrib-type="author"><name><surname>Dario</surname><given-names>Paolo</given-names></name><xref ref-type="aff" rid="aff001">†</xref></contrib></contrib-group><aff id="aff001"><label>†</label><addr-line>CRIM Lab</addr-line>, <addr-line>Scuola Superiore Sant'Anna</addr-line>, <addr-line>Pisa 56025</addr-line>, <country>Italy</country></aff><aff id="aff002"><label>‡</label><addr-line>Department of Mechanical Engineering</addr-line>, <institution>University of Melbourne</institution>, <addr-line>Victoria 3010</addr-line>, <country>Australia</country></aff><aff id="aff003"><label>§</label><addr-line>Project COPRIN</addr-line>, <addr-line>INRIA Sophia-Antipolis FR-06902</addr-line>, <country>France</country></aff><aff id="aff004"><label>¶</label><institution>The Italian Institute of Technology (IIT)</institution>, <addr-line>Genova 16163</addr-line>, <country>Italy</country></aff><author-notes><corresp id="cor001"><label>*</label>Corresponding author. E-mail: <email xlink:href="k.harada@sssup.it">k.harada@sssup.it</email></corresp></author-notes><pub-date pub-type="ppub"><month>03</month><year>2010</year></pub-date><pub-date pub-type="epub"><day>10</day><month>12</month><year>2009</year></pub-date><volume>28</volume><issue>2</issue><issue-title>Surgical Robotics: System Development, Application Study and Performance Analysis</issue-title><fpage seq="5">171</fpage><lpage>183</lpage><history><date date-type="received"><day>27</day><month>10</month><year>2009</year></date></history><permissions><copyright-statement>Copyright © Cambridge University Press 2009</copyright-statement><copyright-year>2009</copyright-year><copyright-holder>Cambridge University Press</copyright-holder></permissions><abstract abstract-type="normal"><title>SUMMARY</title><p>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.</p></abstract><kwd-group kwd-group-type=""><title>KEYWORDS:</title><kwd>Modular robot</kwd><kwd>Surgical robot</kwd><kwd>Mechanical design</kwd><kwd>Endoluminal surgery</kwd><kwd>Interval analysis</kwd></kwd-group><counts><page-count count="13"></page-count></counts><custom-meta-wrap><custom-meta><meta-name>pdf</meta-name><meta-value>S0263574709990610a.pdf</meta-value></custom-meta><custom-meta><meta-name>issue-eds</meta-name><meta-value>Professor Jian S. 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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.</abstract><subject><genre>KEYWORDS</genre><topic>Modular robot</topic><topic>Surgical robot</topic><topic>Mechanical design</topic><topic>Endoluminal surgery</topic><topic>Interval analysis</topic></subject><relatedItem type="host"><titleInfo><title>Robotica</title></titleInfo><titleInfo type="abbreviated"><title>Robotica</title></titleInfo><genre type="journal" authority="ISTEX" authorityURI="https://publication-type.data.istex.fr" valueURI="https://publication-type.data.istex.fr/ark:/67375/JMC-0GLKJH51-B">journal</genre><identifier type="ISSN">0263-5747</identifier><identifier type="eISSN">1469-8668</identifier><identifier type="PublisherID">ROB</identifier><part><date>2010</date><detail type="title"><title>Surgical Robotics: System Development, Application Study and Performance Analysis</title></detail><detail type="volume"><caption>vol.</caption><number>28</number></detail><detail type="issue"><caption>no.</caption><number>2</number></detail><extent unit="pages"><start>171</start><end>183</end><total>13</total></extent></part></relatedItem><identifier type="istex">8D8EF226DA6ED89ACDA60D2EACC6B64C35F83994</identifier><identifier type="ark">ark:/67375/6GQ-094S7XFK-S</identifier><identifier type="DOI">10.1017/S0263574709990610</identifier><identifier type="PII">S0263574709990610</identifier><identifier type="ArticleID">99061</identifier><accessCondition type="use and reproduction" contentType="copyright">Copyright © Cambridge University Press 2009</accessCondition><recordInfo><recordContentSource authority="ISTEX" authorityURI="https://loaded-corpus.data.istex.fr" valueURI="https://loaded-corpus.data.istex.fr/ark:/67375/XBH-G3RCRD03-V">cambridge</recordContentSource><recordOrigin>Copyright © Cambridge University Press 2009</recordOrigin></recordInfo></mods><json:item><extension>json</extension><original>false</original><mimetype>application/json</mimetype><uri>https://api.istex.fr/document/8D8EF226DA6ED89ACDA60D2EACC6B64C35F83994/metadata/json</uri></json:item></metadata><serie></serie></istex></record>Pour manipuler ce document sous Unix (Dilib)
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