In silico development and simulation of a modular reconfigurable assembly micro-robot for use in natural orifice transluminal endoscopic surgery

Background-AimModular micro-robots can be used in Natural Orifice Transluminal Endoscopic Surgery (NOTES) in order to approach intra-abdominal organs. The objective of this study is to evaluate the in silico development and simulation of a modular reconfigurable assembly micro-robot with possible use in NOTES.Materials — MethodsThe WebotsPRO6.0 commercial robot simulation application has been used for the development, programming and simulation of the micro-robotic system. The modular micro-robot has been designed using simple basic 3D objects. Basic physics, motion-mechanical characteristics and transmission of data by emitters and receivers have been evaluated.ResultsThe micro-robot 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 micro-robot 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 micro-robot but in large scale.ConclusionsOur micro-robot 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 micro-robotics in NOTES surgery.