Herein, recent advances, current limitations, and open challenges in the design, modeling,
and control of continuum robots are discussed. Thanks to their lean bodies, these robots …

The magnetic field has unique advantages in manipulating miniature robots working inside
the human body, such as high transparency to biological tissue and good controllability for …

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 robot arms, with their hyper-redundant continuously deformable bodies, show
great promise in applications deemed impossible for traditional rigid robot arms with discrete …

Continuum robots can traverse anatomical pathways to intervene in regions deep inside the
human body. They are able to steer along 3D curves in confined spaces and dexterously …

In this paper we apply Cosserat rod theory to catheters with permanent magnetic
components that are subject to spatially varying magnetic fields. The resulting model …

Minimally Invasive Surgery (MIS) evolved as an alternative to open surgical approaches,
and resulted in reduced surgical trauma and faster recovery. However, the confined …

Background The capability of bronchoscopy in the diagnosis of peripheral pulmonary
nodules (PPNs) remains limited. Despite decades of effort, evidence suggests that the …

Minimally invasive neurosurgery does not require large incisions and openings in the skull
to access the desired brain region, which often results in a faster recovery with fewer …

Soft continuum robots (CRs) can be potentially applied in minimally invasive surgery due to
their slender continuously deformable bodies. However, miniaturization, dexterity, and …