Continuum robots are not constructed with discrete joints but, instead, change shape and position their tip by flexing along their entire length. Their narrow curvilinear shape makes them well suited to passing through body lumens, natural orifices, or small surgical incisions to perform minimally invasive procedures. Modeling and controlling these robots are, however, substantially more complex than traditional robots comprised of rigid links connected by discrete joints. Furthermore, there are many approaches to achieving robot flexure. Each presents its own design and modeling challenges, and to date, each has been pursued largely independently of the others. This article attempts to provide a unified summary of the state of the art of continuum robot architectures with respect to design for specific clinical applications. It also describes a unifying framework for modeling and controlling these systems while additionally explaining the elements unique to each architecture. The major research accomplishments are described for each topic and directions for the future progress needed to achieve widespread clinical use are identified.

中文翻译：

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用于医疗干预的 Continuum 机器人


连续体机器人不是由离散的关节构成的，而是通过沿整个长度弯曲来改变形状并定位其尖端。它们狭窄的曲线形状使其非常适合穿过体腔、自然孔口或小型手术切口来执行微创手术。然而，这些机器人的建模和控制比由离散关节连接的刚性连杆组成的传统机器人要复杂得多。此外，实现机器人弯曲的方法有很多。每一个都提出了自己的设计和建模挑战，迄今为止，每一个都在很大程度上独立于其他挑战。本文试图对连续体机器人架构在特定临床应用设计方面的最新技术进行统一总结。它还描述了用于建模和控制这些系统的统一框架，同时还解释了每种架构特有的元素。描述了每个主题的主要研究成果，并确定了实现广泛临床应用所需的未来进展方向。