The trend of achieving minimal invasiveness in surgeries and recent technological advances in robotics have resulted in the emergence of flexible surgical robots. Such flexible robots can reach a surgical site via narrow and tortuous pathways, extending the reach of robotic surgery and potentially reducing the incision size. This review covers the key technical issues associated with flexible surgical robotics and introduces emerging flexible surgical robot systems organized according to their target applications in the endoluminal surgical field. Furthermore, the challenges and recent advancements in manipulator design, modeling, and control as well as the shape and force sensing of flexible robots are presented as key technical issues. Furthermore, the technical features and clinical values of emerging flexible surgical robot systems are introduced with their medical applications.

中文翻译：

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腔内手术柔性机器人技术的进步


手术微创化的趋势和机器人技术的最新进展导致了柔性手术机器人的出现。这种灵活的机器人可以通过狭窄而曲折的路径到达手术部位，扩大了机器人手术的范围，并有可能减小切口尺寸。本综述涵盖了与柔性手术机器人相关的关键技术问题，并介绍了根据腔内手术领域的目标应用组织的新兴柔性手术机器人系统。此外，机械手设计、建模和控制以及柔性机器人的形状和力传感方面的挑战和最新进展也被视为关键技术问题。此外，还介绍了新兴柔性手术机器人系统的技术特点和临床价值及其医疗应用。