Intracorporeal robotics : from milliscale to nanoscale / Michäel Gauthier, Nicolas Andreff, Etienne Dombre.

Format:

Book

Author/Creator:

Gauthier, Michäel, 1975- author.

Andreff, Nicolas, author.

Dombre, E. (Etienne), author.

Series:

Robotics series

Language:

English

Subjects (All):

Robotics.

Microrobots.

Nanoelectromechanical systems.

Physical Description:

xiv, 184 pages : illustrations (black and white) ; 25 cm.

Place of Publication:

London : ISTE, 2014.

Summary:

A promising long-term evolution of surgery relies on intracorporeal microrobotics. This book reviews the principles and scientific challenges that have to be tackled to design and control robots able to manipulate objects within the body whose dimensions range from the micrometer scale up to the millimeter scale. Three orders of magnitude are considered by the authors, justified by the class of problems encountered and solutions implemented to manipulate objects and reach targets within the body: millimetric, sub-millimetric in the 10-100 micrometer range, then in the 1-10 micrometer range. The most prominent devices and prototypes of the state of the art described to illustrate the benefit that can be expected for surgeons and patients. Future prospects toward nanorobotics are discussed. The Introduction discusses the scale effect and the principles of miniaturization as well the interest in robotic approaches for biomedical applications in both the millimetric and nanometric fields. Chapters 1-3 include a discussion of the physical and methodological principles put into play at the scale considered, a description of the scientific issues regarding robotics and recent scientific results. They also include a presentation of devices from industry or academia which exist in the scale considered, in the fields of intracorporeal millirobotics, intracorporeal microrobotics, and in vitro non-contact mesorobotics. Finally, the future prospects for biomedical robotics are discussed for the millimetric, micrometric and mesometric scales along the following three lines: prospective applications, scientific prospects, and prospects in miniaturization towards a nonorobotic biomedical reality. Book jacket.

Contents:

Chapter 1 Intracorporeal Millirobotics 1

1.1 Introduction 1

1.2 Principles 2

1.2.1 Partially intracorporeal devices with active distal mobilities 2

1.2.2 Intracorporeal manipulators 5

1.2.3 Intracorporeal mobile devices 16

1.3 Scientific issues 20

1.3.1 Modeling 20

1.3.2 Design 24

1.3.3 Actuation and transmission 26

1.3.4 Sensing 30

1.3.5 Control 34

1.4 Examples of devices 37

1.4.1 The robotic platform of the Araknes project 39

1.4.2 A snake-like robot made of concentric super-elastic tubes 44

1.4.3 MICRON: a handheld robotized instrument for ophthalmic surgery 48

1.5 Conclusion 52

Chapter 2 Intracorporeal Microrobotics 55

2.1 Introduction 55

2.2 Novel paradigms for intracorporeal robotics 56

2.2.1 Classification of intracorporeal robots 56

2.2.2 Physical principles in use at microscale 57

2.3 Methods 66

2.3.1 Models 66

2.3.2 Design 71

2.3.3 Actuation 75

2.3.4 Sensing 80

2.3.5 Control 86

2.4 Devices 97

2.4.1 Magnetically guided catheters 97

2.4.2 Distal tip mobility for endoluminal microphonosurgery 98

2.4.3 Autonomous active capsules 102

2.4.4 Magnetically guided capsules 104

2.5 Conclusion 107

Chapter 3 In vitro Non-Contact Mesorobotics 109

3.1 Introduction 109

3.2 Principles 111

3.2.1 Introduction 111

3.2.2 Laser trapping 114

3.2.3 Electrostatic principles 118

3.3 Scientific challenges 122

3.3.1 Modeling 122

3.3.2 Design 129

3.3.3 Perception 131

3.3.4 Control 131

3.4 Experimental devices 132

3.4.1 Laser trapping 132

3.4.2 DEP systems 139

3.5 Conclusion 147

Chapter 4 Toward Biomedical Nanorobotics 149

4.1 Applicative challenges 149

4.1.1 In vitro applications 149

4.1.2 Nanoassembly for biomedical applications 150

4.1.3 In vivo applications 150

4.2 Scientific challenges 150

4.2.1 New paradigm removing frontiers between sciences 150

4.2.2 Energy sources 151

4.2.3 How far away is this future? 152.

Notes:

Includes bibliographical references and index.

ISBN:

9781848213715

1848213719

OCLC:

874116452