In silico development and simulation of a modular

Authors: A Zygomalas K Gkiokas D D Koutsouris

Publish Date: 2011/08/27

Volume: 83, Issue: 4, Pages: 190-

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Abstract

Modular microrobots can be used in Natural Orifice Transluminal Endoscopic Surgery NOTES in order to approach intraabdominal organs The objective of this study is to evaluate the in silico development and simulation of a modular reconfigurable assembly microrobot with possible use in NOTESThe WebotsPRO60 commercial robot simulation application has been used for the development programming and simulation of the microrobotic system The modular microrobot has been designed using simple basic 3D objects Basic physics motionmechanical characteristics and transmission of data by emitters and receivers have been evaluatedThe microrobot consists of subunits that can enter through the natural orifices of the human body or even be swallowed These subunits can be assembled as a modular reconfigurable microrobot with locomotion and operational functionality For the remote control of the robotic system a controller has been developed that has the same shape as the microrobot but in large scaleOur microrobot could be the basis for the development of more sophisticated microrobotic systems for use in NOTES The simulation revealed the behaviour operation and handling of the robotic system Effective cooperation between surgeons and specialists in robotics and information technology is the key to successful use of microrobotics in NOTES surgery

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