Arianna Menciassi - EuroSouthKorea-ICT.org

Microrobots for medical applications
as a common challenge in Europe and
South Korea: some case studies
Arianna Menciassi
Scuola Superiore Sant'Anna
P.za Martiri della Libertà, 33
56127 - Pisa, Italy
arianna@sssup.it

Outline of presentation
Scuola Superiore Sant’Anna: main R&D activities of
the Biorobotics Labs (ARTS and CRIM Labs)
Existing and potential cooperation topics/projects
between SSSA and South Korean institutions
- micro-robotics for endoscopy
- microsystem technologies for neural interfaces
- service robotics and robots for urban hygiene
The existing framework: the Italy-Korea joint Lab of
Biorobotics for improving quality of life.

Outline of presentation
Scuola Superiore Sant’Anna: main R&D activities of
the Biorobotics Labs (ARTS and CRIM Labs)
Existing and potential cooperation topics/projects
between SSSA and South Korean institutions
- micro-robotics for endoscopy
- microsystem technologies for neural interfaces
- service robotics and robots for urban hygiene
The existing framework: the Italy-Korea joint Lab of
Biorobotics for improving quality of life.

82 Faculty
Sant’Anna School… a few numbers
www.sssup.it
• More than 330 PhD/Doctorate/Master students
223 Undergraduate students
More than 724 participants to post-graduate courses and
continuous education programmes
. 900 research assistants, post-docs and research associates

The ARTS and CRIM Labs story: pursuing frontier research, big
challenges and new opportunities
BioRobotics at all scales

ARTS (Advanced Robotics Technology and
Systems) Lab
Coordinator: Paolo Dario
ARTS (Advanced Robotics Technology and Systems) Lab
Coordinator: Paolo Dario
Artificial hands
Hand prostheses
Tactile sensors
Neuro-robotics and
bionics
Neural interfaces
Natural interfaces
Sensory information
processing
Robotics for neurorehabilitation
Assistive robotics
Gerontechnologies
Humanoid robotics
Neurodevelopmental
engineering
Service robotics
Biomimetic robotics
Roboethics

CRIM (Center for Research in Microengineering)
Coordinator: Paolo Dario
TRADITIONAL
SURGERY
MINIMALLY
INVASIVE
SURGERY
Da Vinci CAS system
Force-feedback
scissor for fetal
surgery
ENDOLUMINAL
SURGERY
Endoscopic
capsule
Reconfigurable
surgical system
FETAL
SURGERY
Micro-
endoscope
for spinal
cord
CELL
SURGERY
Artificial virus
for cell therapy

Outline of presentation
Scuola Superiore Sant’Anna: main R&D activities of
the Biorobotics Labs (ARTS and CRIM Labs)
Existing and potential cooperation topics/projects
between SSSA and South Korean institutions
- micro-robotics for endoscopy
- microsystem technologies for neural interfaces
- service robotics and robots for urban hygiene
The existing framework: the Italy-Korea joint Lab of
Biorobotics for improving quality of life.

Microsystem Technology towards capsular endoscopy from 1993 to now
’93-’96
’00-’03
SAMA (EU-Brite)
SMA devices for the medical field – generation of the inchworm
concept for endoscopy
Multifunctional system for colonoscopy –
MUSYC (EU-Biomed2)
development of the inchworm system for self-propelling
colonoscopy; first joint tests with medical doctors
’97-’00
Endoscopic device locomotion – development, optimization,
integration of the inchworm system for robotic colonoscopy;
EMIL (IMC–Korean Gov.) starting of the collaboration with novineon
Intracorporeal Video Probe – development of
a CMOS vision system for laparoscopy and
IVP (EU-IST) endoscopic capsule incorporation
Biomimetic Locomotion System for
the Human Body – reactive and
active unit for locomotion in
BIOLOCH (EU-IST/FET)
unstructured environment
Endoscopic capsule locomotion and control
– development of a legged locomotion system
EMILOC (IMC–Korean Gov.) for a video capsule for the entire GI tract
’03-’06
’02-’05
’02-’05
’06-’10
VECTOR (EU-IST 6FP)
Versatile Endoscopic
Capsule for
gastrointestinal TumOr
Recognition and therapy

Capsular endoscopy in the gut
> 1 cm
“ALL ON BOARD”
PHILOSOPHY
www.microsystem.re.kr
1 - 2 cm
microgripper
microsyringe
microoptics
temperature sensors
pH sensors
chemical sensors
microbattery
locomotion mechanisms
RF module
drug-delivery microsystem
Outside
the body
Human monitoring
and Diagnosis
(Controller)

Painless Colonoscopy
In the framework of the
capsular endoscopy
project (IMC Project,
South Korea, 2000-
2010) we initially
developed jointly with
KIST a new concept of
painless colonoscope,
that generated joint
patents and spin-off
companies (between
2000 and 2004)

Phases
Development phases of the new painless colonoscopy system
Feasibility
Concept
α
and β
Lab prototype
FDA Approval
testing
KIST-Era
Endoscopy
patent license
Manufacture start
1st customer trials
Mass production
0 5 10 15
1993 1998 2003 2006
Years

Development of the
camera system the
VECTOR capsule
Development and
wireless control of the
steering system for
the camera
Development of the
lens cleaning system
of the camera
IMC-KIST role in VECTOR
Telemetry chip for the VECTOR camera
driving and control
SMA-based lens cleaning system
Mechanism for the camera steering

M. Quirini, S.
Scapellato, A.
Menciassi, P. Dario, F.
Rieber, C.-N. Ho, S.
Schostek, M.O. Schurr,
“Feasibility proof of a
legged locomotion
capsule for the GI
tract”,
GASTROINTESTINAL
ENDOSCOPY Vol. 67,
No. 7, 2008
A. Moglia, A. Menciassi, P.
Dario, A. Cuschieri, "Clinical
update: endoscopy for small-
bowel tumours", THE LANCET,
Vol 370 July 14, 2007, pp. 114-
116

Outline of presentation
Scuola Superiore Sant’Anna: main R&D activities of
the Biorobotics Labs (ARTS and CRIM Labs)
Existing and potential cooperation topics/projects
between SSSA and South Korean institutions
- micro-robotics for endoscopy
- microsystem technologies for neural interfaces
- service robotics and robots for urban hygiene
The existing framework: the Italy-Korea joint Lab of
Biorobotics for improving quality of life.

Neurotechnology:
from basic discoveries to clinical practice
Advanced technologies
and innovative algorithms
Neural prostheses for
sensorimotor function
restoration
Motor control and
functional restoration
in animal models
Neuro-rehabilitation
of disabled people

Previous/current projects
in the field of neural interfaces
EU INTER
Project
1993-1996
18
EU GRIP Project
1998-2001
EU CYBERHAND
Project
2002-2005
EU NEUROBOTICS
Project
2004-2008
EU CLONS Project
FET Open
2009-2013
EU TIME Project
(ICT, Challenge 3)
2008-2012
KIST DACTIN
Project
2006-2008

Stump
The CYBERHAND system
PNS neural interfaces
5. Implanted neural interface:
ENG efferent signals recording
(patient’s intention detection)
Afferent nerves stimulation (to
provide sensory feedback to the
patient)
8. Decoding patient’s
intentions and
Embedded closed-loop
control of the artificial hand
6. Receiver
7. Transmitter
Picture by Dr. Mattoli, SSSA
1. Biomechatronic Hand
2. Embedded Biomimetic
sensors:
- within the structure
- within the glove

Peripheral neural interfaces and neural prostheses (in
amputees)
SMA-based intraneural electrodes (Bossi,
Micera, et al., IEEE TBME, 2007)
Peripheral cybernetic hand prosthesis
(Micera, et al., Proc IEEE, 2006)

Outline of presentation
Scuola Superiore Sant’Anna: main R&D activities of
the Biorobotics Labs (ARTS and CRIM Labs)
Existing and potential cooperation topics/projects
between SSSA and South Korean institutions
- micro-robotics for endoscopy
- microsystem technologies for neural interfaces
- service robotics and robots for urban hygiene
The existing framework: the Italy-Korea joint Lab of
Biorobotics for improving quality of life.

The DustBot Project
Specific Targeted Research Project
IST call 6 / FP6-2005-IST-6
The DustBot project is aimed at designing, developing and testing a system
for improving the management of urban hygiene, based on a network of
autonomous and cooperating robots, embedded in an Ambient Intelligence
infrastructure.
DustCart
Robot
Robot
Robot
DustClean

The DustBot Demonstrators
…in Europe
Five demonstrators will be set up in real operational
scenarios during 2009 in order to demonstrate the
functionality and potentiality of the DustBot platform:
- Demonstration in Peccioli, Italy (March 2009)
- Demonstration in Pontedera, Italy (April 2009)
- Demonstration in Massa, Italy (May 2009)
- Demonstration in Bilbao, Spain (June 2009)
- Demonstration in Örebro, Sweden (July 2009)

Technological and scientific collaboration
agreement among SSSA (Scuola Superiore
Sant’Anna – ETRI (Electronics and
Telecommunications Research Institute)– KIST
(Korea Institute of Science and Technology)
which are interested in demonstrating
integrating the DustBot platform and robots in
the Tomorrow City,
in Incheon, South Korea, in August 2009

Outline of presentation
Scuola Superiore Sant’Anna: main R&D activities of
the Biorobotics Labs (ARTS and CRIM Labs)
Existing and potential cooperation topics/projects
between SSSA and South Korean institutions
- micro-robotics for endoscopy
- microsystem technologies for neural interfaces
- service robotics and robots for urban hygiene
The existing framework: the Italy-Korea joint Lab of
Biorobotics for improving quality of life.

Joint Laboratory in BioRobotics
for improving quality of life
http://www.ikjl-biorobotics.sssup.it/
Different fields for improving the quality of life:
Service robotics for elderly and / or disabled people
Micro-robotics for disease investigation and therapy
Robots for urban hygiene (Tomorrow City in Incheon)

Service robot under development at the Italy –
Korea Joint Lab
…new service robots in
open space at Tomorrow
City…

Thank You!
For further information:
Arianna Menciassi, PhD
Associate Professor of Biomedical Robotics
Scuola Superiore Sant'Anna
P.za Martiri della Libertà, 33
56127 - Pisa, Italy
CRIM LabPolo Sant'Anna Valdera
Scuola Superiore Sant'Anna
Viale Rinaldo Piaggio 34
56025 - Pontedera (Pisa) – Italy
Tel. +39 050 883 418/420/400
Mobile: +39 348 0718865
Fax. +39 050 883496/497
http://www-crim.sssup.it/
e-mail: arianna@sssup.it

Biography
Arianna Menciassi received her Laurea Degree in Physics (with Honors) from the University of Pisa in
1995. In the same year, she joined the CRIM (Center for Research in Microengineering) Lab of the Scuola
Superiore Sant’Anna in Pisa as a Ph.D. student in bioengineering, with a research program on the
micromanipulation of mechanical and biological micro-objects. In 1999, she received her Ph.D. degree: the
main results of this activity have been awarded with the Best Manipulation Paper Award at the International
Conference on Robotics and Automation in the year 2001.
Starting from June 2006, she is Associate Professor of biomedical robotics at the Scuola Superiore
Sant’Anna.
She teaches at the Scuola Superiore Sant’Anna and at the University of Pisa (Master Degree in
Bioengineering), and she supervises several Master and Ph.D. students in the CRIM Lab. Her main research
interests are in the fields of biomedical micro- and nano-robotics, microsystem technologies,
nanotechnologies, micromechatronics. She is working on several European projects and international
projects for the development of micro- and nano-robotic systems for medical applications. Specifically, since
the year 2000, she has been collaborating with Paolo Dario on capsular endoscopy projects, in Europe
(VECTOR project Sixth Framework Programme, Information Society Technologies Priority, and previous
projects in the Fifth Framework Porgramme) and in South Korea (Intelligent Microsystem Project,
http://www.microsystem.re.kr). Arianna Menciassi is co-author of more than 100 international scientific
papers, almost 50 of these on ISI journals. She is also co-author of 5 book chapters on medical devices and
micro-technologies. She is co-inventor of several international and national patents, some of them shared
with the Intelligent Microsystem Center and KIST in Seoul.
In the year 2007, jointly with the team working on capsular endoscopy at the Scuola Superiore Sant’Anna,
she was awarded with the Well-Tech Award 2007 (Milano, Italy): “Premio per l’innovazione che migliora la
qualità della vita” (Innovation for improving quality of life). In the same year, she was awarded with the
Gonfalone d’Argento of the Tuscany region, as one of the best ten young talented researchers of the region