Article,
Single and multiple robotic capsules for endoluminal diagnosis and surgery
Surgical Robotics: Systems Applications and Visions, (2011)
DOI: 10.1007/978-1-4419-1126-1_14
Abstract
The present chapter illustrates robotic approaches to endolomuninal diagnosis and therapy of hollow organs of the human body, with a specific reference to the gastrointestinal (GI) tract. It gives an overview of the main technological and medical problems to be approached when dealing with miniaturized robots having a pill-like size, which are intended to explore the GI tract teleoperated by clinicians with high precision, flexibility, effectiveness and reliability. Considerations on different specifications for diagnostic and surgical swallowable devices are presented, by highlighting problems of power supply, dynamics, kinematics and working space. Two possible solutions are presented with details about design issues, fabrication and testing: the first solution consists of the development of active capsules, 2-3 cm3 in volume, for teleoperated diagnosis in the GI tract; the second solution illustrates a multiple capsule approach allowing to overcome power supply and working space problems, that are typical in single capsule solutions. © 2011 Springer Science+Business Media, LLC.
Tags
- active
- endoscopy
- endoscopy,endoluminal
- endoscopy,legged
- gastroscopy,modular
- invasive
- locomotion,biomechatronics,biorobotics
- locomotion,meso-scale
- robotic
- robotics,minimally
- robotics,reconfigurable
- robotics,robotic
- surgery,capsule
- surgery,gastrointestinal
