04266nam 2200673 450 991080728480332120230803201927.01-118-57910-01-118-57912-7(CKB)3710000000093422(EBL)1650824(SSID)ssj0001216219(PQKBManifestationID)11720705(PQKBTitleCode)TC0001216219(PQKBWorkID)11189346(PQKB)10313902(MiAaPQ)EBC1650824(Au-PeEL)EBL1650824(CaPaEBR)ebr10849205(CaONFJC)MIL584487(OCoLC)892194606(EXLCZ)99371000000009342220140325h20142014 uy 0engur|n|---|||||txtccrIntracorporeal robotics from milliscale to nanoscale /Michaël Gauthier, Nicolas Andreff, Dombre EtienneLondon, England ;Hoboken, New Jersey :ISTE :Wiley,2014.©20141 online resource (200 p.)Robotics SeriesDescription based upon print version of record.1-84821-371-9 Includes bibliographical references and index.Cover; Title Page; Contents; Introduction; Chapter 1 Intracorporeal Millirobotics; 1.1. Introduction; 1.2. Principles; 1.2.1. Partially intracorporeal devices with active distal mobilities; 1.2.2. Intracorporeal manipulators; 1.2.3. Intracorporeal mobile devices; 1.3. Scientific issues; 1.3.1. Modeling; 1.3.2. Design; 1.3.3. Actuation and transmission; 1.3.4. Sensing; 1.3.5. Control; 1.4. Examples of devices; 1.4.1. The robotic platform of the Araknes project; 1.4.2. A snake-like robot made of concentric super-elastic tubes1.4.3. MICRON: a handheld robotized instrument for ophthalmic surgery1.5. Conclusion; Chapter 2 Intracorporeal Microrobotics; 2.1. Introduction; 2.2. Novel paradigms for intracorporeal robotics; 2.2.1. Classification of intracorporeal robots; 2.2.2. Physical principles in use at microscale; 2.3. Methods; 2.3.1. Models; 2.3.2. Design; 2.3.3. Actuation; 2.3.4. Sensing; 2.3.5. Control; 2.4. Devices; 2.4.1. Magnetically guided catheters; 2.4.2. Distal tip mobility for endoluminal microphonosurgery; 2.4.3. Autonomous active capsules; 2.4.4. Magnetically guided capsules; 2.5. ConclusionChapter 3 Non-Contact Mesorobotics3.1. Introduction; 3.2. Principles; 3.2.1. Introduction; 3.2.2. Laser trapping; 3.2.3. Electrostatic principles; 3.3. Scientific challenges; 3.3.1. Modeling; 3.3.2. Design; 3.3.3. Perception; 3.3.4. Control; 3.4. Experimental devices; 3.4.1. Laser trapping; 3.4.2. DEP systems; 3.5. Conclusion; Chapter 4 Toward Biomedical Nanorobotics; 4.1. Applicative challenges; 4.1.1. In vitro applications; 4.1.2. Nanoassembly for biomedical applications; 4.1.3. In vivo applications; 4.2. Scientific challenges; 4.2.1. New paradigm removing frontiers between sciences4.2.2. Energy sources4.2.3. How far away is this future?; Bibliography; Index A promising long-term evolution of surgery relies on intracorporeal microrobotics. This book reviews the physical and methodological principles, and the scientific challenges to be tackled to design and control such robots. Three orders of magnitude will be considered, 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 will be described to illustrate thISTERoboticsRobotsDesign and constructionMicrorobotsRobotics.RobotsDesign and construction.Microrobots.629.892Gauthier Michael1705774Andreff NicolasEtienne DombreMiAaPQMiAaPQMiAaPQBOOK9910807284803321Intracorporeal robotics4092761UNINA