Continuum Robots for Medical Interventions

TLDR

Continuum robots flex along their entire length, offering a narrow, curvilinear shape that enables navigation through body lumens and small incisions, but their modeling and control are more complex than for rigid‑link robots and have been pursued in many independent approaches. This article aims to unify the state of the art of continuum robot architectures for specific clinical applications. It presents a unifying framework for modeling and controlling these systems, detailing the unique elements of each architecture. The review highlights major research achievements in each area and outlines future directions needed for widespread clinical adoption.

Abstract

Continuum robots are not constructed with discrete joints but, instead, change shape and position their tip by flexing along their entire length. Their narrow curvilinear shape makes them well suited to passing through body lumens, natural orifices, or small surgical incisions to perform minimally invasive procedures. Modeling and controlling these robots are, however, substantially more complex than traditional robots comprised of rigid links connected by discrete joints. Furthermore, there are many approaches to achieving robot flexure. Each presents its own design and modeling challenges, and to date, each has been pursued largely independently of the others. This article attempts to provide a unified summary of the state of the art of continuum robot architectures with respect to design for specific clinical applications. It also describes a unifying framework for modeling and controlling these systems while additionally explaining the elements unique to each architecture. The major research accomplishments are described for each topic and directions for the future progress needed to achieve widespread clinical use are identified.