A Survey of Continuum Robots Deployed in the Medical Fields

摘要

This paper provides a comprehensive review of continuum robots in the medical field, focusing on their applications in various surgical applications such as brain surgeries, ophthalmic surgeries, visceral surgeries, and other organ surgeries. It highlights these robots' categorization, mechanical design, and control strategies, emphasizing the challenges and advancements in position and force control. We summarize the existing developments and provide perspective for the future of continuum robots by discussing the current challenges.