Continuum and Soft Robots in Minimally Invasive Surgery: A Systematic Review

被引：0
作者：
Iqbal, Fahad [1 ]
Esfandiari, Mojtaba [2 ]
Amirkhani, Golchehr [2 ]
Hoshyarmanesh, Hamidreza [3 ]
Lama, Sanju [4 ,5 ]
Tavakoli, Mahdi [6 ]
Sutherland, Garnette R. [4 ,5 ]
机构：
[1] Univ Calgary, Dept Cell Biol & Anat, Calgary, AB T2N 1N4, Canada
[2] Johns Hopkins Univ, Mech Engn Dept, Lab Computat Sensing & Robot, Baltimore, MD 21218 USA
[3] Boston Univ, Questrom Sch Business, Boston, MA 02215 USA
[4] Univ Calgary, Dept Clin Neurosci, Calgary, AB T2N 4N1, Canada
[5] Univ Calgary, Hotchkiss Brain Inst, Calgary, AB T2N 4N1, Canada
[6] Univ Alberta, Elect & Comp Engn Dept, Edmonton T6G 1HQ, AB, Canada
来源：
IEEE ACCESS | 2025年 / 13卷
关键词：
Continuum robots; minimally invasive surgery; soft robots; STATE ESTIMATION; BRAGG GRATINGS; SHAPE; MANIPULATOR; CATHETER; MRI; DESIGN; TIME; FLUOROSCOPY; ACTUATION;
D O I：
10.1109/ACCESS.2025.3535677
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Faster recovery, reduced trauma, and improved patient outcomes drive innovations in minimally invasive surgery (MIS). Notwithstanding significant advancements, traditional MIS tools have been limited in navigating deep anatomical pathways and offering precise control at target sites. Continuum robotics has emerged as a solution, with recent developments enabling greater flexibility and maneuverability in surgical interventions. In this review, we first highlight recent developments in mechanical-continuum robots for traditional minimally invasive surgery and then summarize the current state-of-the-art in steerable catheter-based interventions. We discuss limitations to current approaches and explore the emerging potential of soft robots as a novel strategy to address the challenge of developing versatile, highly articulated flexible tools for minimally invasive surgical interventions. We hope that this review will, on the one hand, provide an introduction and resource for students and researchers alike, and on the other hand, will stimulate discussion vis-& agrave;-vis future directions in minimally invasive surgery.
引用
收藏
页码：24053 / 24079
页数：27
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