Emerging paradigms furthering the reach of medical technology into human anatomy
present unique modeling, control, and sensing problems. This review provides a brief history …

Magnetic resonance imaging (MRI) can provide high-quality 3-D visualization of target
anatomy, surrounding tissue, and instrumentation, but there are significant challenges in …

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 …

Endovascular techniques have been embraced as a minimally-invasive treatment approach
within different disciplines of interventional radiology and cardiology. The current practice of …

Continuum manipulators offer a means for robot manipulation in a constrained environment,
where the manipulator body can safely interact with, comply with, and navigate around …

One of the challenges of minimally invasive surgery is the dexterous manipulation and
precise control of small‐diameter continuum surgical instruments. Herein, a magnetic …

Concentric tube robots are catheter-sized continuum robots that are well suited for minimally
invasive surgery inside confined body cavities. These robots are constructed from sets of …

Autonomous surgery involves having surgical tasks performed by a robot operating under its
own will, with partial or no human involvement. There are several important advantages of …

Remote-controlled vascular interventional robots have great potential for use in minimally
invasive vascular surgeries in recent years due to their ability to reduce the occupational risk …

Continuum manipulators are designed to operate in constrained environments that are often
unknown or unsensed, relying on body compliance to conform to obstacles. The interaction …