A review of continuum robot

摘要

This paper comprehensively reviews continuum robots and their application in medical domains. Unlike traditional rigid robots, continuum robots possess continuous, flexible structures that enhance dexterity and adaptability. Their compliant nature allows safer human-robot collaboration, while their deformability permits navigation through confined spaces and conformance to anatomy. These advantages make continuum robots promising for medical applications like minimally invasive surgery. The paper discusses continuum robots' fundamental principles, including kinematics, dynamics, mechanical design, modelling, and control strategies. It highlights the unique benefits of continuum robots compared to rigid counterparts, especially for medical use. Challenges such as design optimization, accurate control and modelling, sensing, miniaturization, and technology integration are also addressed. Enhancing manipulation capabilities, developing miniaturized continuum robots, achieving autonomous operation, integrating imaging modalities, and validating safety and efficacy through clinical trials are suggested for future work. This review offers valuable insights into continuum robotics technology and its immense potential to transform medical interventions through precise, minimally invasive procedures.