Continuum Robots for Medical Interventions

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…

• NS
  National Science Foundation

  Awards: 1734461, IIS-1652588
• NI
  National Institutes of Health

  Awards: R01NS099207, R01HL124020
• UA
  U.S. Army

  Awards: W81XWH-19-C0083, W81XWH-19-C0101