Journal
PROCEEDINGS OF THE IEEE
Volume 110, Issue 7, Pages 909-931Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/JPROC.2022.3170109
Keywords
Manipulators; Robots; Surgery; Instruments; Wires; Medical robotics; Force; Continuum robot; endoluminal surgery; flexible robot technology; flexible surgical robot; hysteresis compensation; interventional endoscopy; intraluminal surgery; shape measurement; telemanipulation
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Flexible surgical robots have become increasingly important in surgeries. This review covers the key technical issues associated with flexible surgical robotics and introduces the features and clinical values of emerging flexible surgical robot systems.
The trend of achieving minimal invasiveness in surgeries and recent technological advances in robotics have resulted in the emergence of flexible surgical robots. Such flexible robots can reach a surgical site via narrow and tortuous pathways, extending the reach of robotic surgery and potentially reducing the incision size. This review covers the key technical issues associated with flexible surgical robotics and introduces emerging flexible surgical robot systems organized according to their target applications in the endoluminal surgical field. Furthermore, the challenges and recent advancements in manipulator design, modeling, and control as well as the shape and force sensing of flexible robots are presented as key technical issues. Furthermore, the technical features and clinical values of emerging flexible surgical robot systems are introduced with their medical applications.
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