In this paper, we describe the state of the art in continuum robot manipulators and systems
intended for application to interventional medicine. Inspired by biological trunks, tentacles …

Continuum robots are highly miniaturizable, exhibit non-linear shapes with several curves,
and are flexible and compliant. In particular, concentric-tube and tendon-driven continuum …

Concentric tube robots consist of nested sets of pre-curved elastic tubes that bend and
deform one another when they are translated and rotated with respect to each other …

Tendon-driven parallel continuum robots (PCR) consist of multiple individual continuous
kinematic chains, that are actuated in bending utilizing tendons routed along their …

The manipulator workspace is an essential element in the field of manipulator research and
is of great significance for manipulator motion planning. However, little research has been …

Robotic systems that can explore the sea floor, collect marine samples, gather shallow water
refuse, and perform other underwater tasks are interesting and important in several fields …

Conventional medical instruments are not capable of passing through tortuous anatomy as
required for natural orifice transluminal endoscopic surgery due to their rigid shaft designs …

Abstract Rod-driven Parallel Continuum Robots (PCR) are a class of continuum robots (CR)
that possess the potential to combine advantages of parallel structure into CRs. However …

Recent physics-based models of concentric tube continuum robots are able to describe
pose of the tip, given the preformed translation and rotation in joint space of the robot …

Minimally invasive surgery is of high interest for interventional medicine since the smaller
incisions can lead to less pain and faster recovery for patients. The current standard-of-care …