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Locomotion Selection and Mechanical Design for a Mobile Intra-abdominal Adhesion-Reliant Robot for Minimally Invasive Surgery

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Towards Autonomous Robotic Systems (TAROS 2011)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 6856))

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Abstract

Miniaturisation of surgical robots combined with bio-inspired adhesive material offer the possibility of a device able to move stably inside the body. In this paper a miniature adhesion-reliant robot is proposed as an alternative to current cumbersome, externally anchored surgical robots. An effective locomotion strategy is selected according to the specific working environment of this application. This environment is the ceiling of the insufflated human abdomen during laparoscopic surgery. Having chosen the most appropriate actuation technology in the market (piezo-electricity), the mechanical design to implement the former locomotion strategy is demonstrated.

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Author information

Authors and Affiliations

  1. Institute of Engineering Systems and Design, School of Mechanical Engineering, University of Leeds, Leeds, UK

    Alfonso Montellano López, Mojtaba Khazravi, Robert Richardson & Abbas Dehghani

  2. Institute of Engineering, Thermofluids, Surfaces and Interfaces, School of Mechanical Engineering, University of Leeds, Leeds, UK

    Rupesh Roshan, Tomasz Liskiewicz, Ardian Morina & Anne Neville

  3. Academic Surgical Unit, St. James’s University Hospital, Leeds, UK

    David G. Jayne

Authors
  1. Alfonso Montellano López
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  2. Mojtaba Khazravi
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  3. Robert Richardson
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  4. Abbas Dehghani
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  5. Rupesh Roshan
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  6. Tomasz Liskiewicz
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  7. Ardian Morina
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  8. David G. Jayne
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  9. Anne Neville
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Editor information

Editors and Affiliations

  1. Department of Automatic Control and Systems Engineering, The University of Sheffield, Mappin Street, S1 3JD, Sheffield, UK

    Roderich Groß

  2. Materials and Engineering Research Institute, Sheffield Hallam University, City Campus, Horward Street, S1 1WB, Sheffield, UK

    Lyuba Alboul  & Jacques Penders  & 

  3. Department of Computing, Engineering and Mathematical Sciences, Bristol Robotics Laboratory (BRL), University of Bristol and the West of England, Bristol Business Park, BS16 1QD, Bistol, UK

    Chris Melhuish

  4. Department of Electrical and Electronic Engineering, Imperial College London, Exhibition Road, SW7 2BT, London, UK

    Mark Witkowski

  5. Department of Psychology, The University of Sheffield, Wstern Bank, S10 2TN, Sheffield, UK

    Tony J. Prescott

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© 2011 Springer-Verlag Berlin Heidelberg

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López, A.M. et al. (2011). Locomotion Selection and Mechanical Design for a Mobile Intra-abdominal Adhesion-Reliant Robot for Minimally Invasive Surgery. In: Groß, R., Alboul, L., Melhuish, C., Witkowski, M., Prescott, T.J., Penders, J. (eds) Towards Autonomous Robotic Systems. TAROS 2011. Lecture Notes in Computer Science(), vol 6856. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-23232-9_16

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  • DOI: https://doi.org/10.1007/978-3-642-23232-9_16

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-23231-2

  • Online ISBN: 978-3-642-23232-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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