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Updated: Jun 18, 2026
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Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery
Published on: November 14, 2015
Some control-related issues in mini-robotics for endoluminal surgery.
Philippe Poignet1, Ahmed Chemori, Nabil Zemiti
1LIRMM, UMR 5506, Univ. Montpellier 2-CNRS, 161 Rue Ada, 34392 Montpellier, France. poignet@lirmm.fr
Summary
This study addresses control challenges in developing robotics for endoluminal surgery. A teleoperation architecture, proven for needle insertion, is proposed for robotic-assisted endoluminal procedures like biopsies and anastomoses.
Area of Science:
- Robotics
- Surgical Technology
- Control Systems
Background:
- Endoluminal surgery offers incisionless procedures via natural orifices.
- Developing specialized robotic devices is crucial for these advanced techniques.
- Control aspects, both theoretical and practical, present significant challenges in robotic endoluminal surgery.
Purpose of the Study:
- To identify and discuss key control issues in the development of robotics for endoluminal surgery.
- To propose a viable control architecture for teleoperated endoluminal surgical procedures.
Main Methods:
- Review of control challenges in robotic endoluminal surgery.
- Proposal of a teleoperation architecture adaptable for endoluminal applications.
Main Results:
- Identification of critical control issues in robotic endoluminal surgery development.
- Demonstration of a teleoperation architecture's potential for endoluminal surgery.
Conclusions:
- The proposed teleoperation architecture shows promise for enabling safe and effective robotic endoluminal surgery.
- Further research and development in control systems are essential for advancing robotic endoluminal procedures such as biopsies and anastomoses.
