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 …

With the maturity of surgical robotic systems based on traditional rigid-link principles, the rate
of progress slowed as limits of size and controllable degrees of freedom were reached …

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 …

The dynamic equations of many continuum and soft robot designs can be succinctly
formulated as a set of partial differential equations (PDEs) based on classical Cosserat rod …

Tendon actuation is one of the most prominent actuation principles for continuum robots. To
date, a wide variety of modelling approaches has been derived to describe the deformations …

The compliant structure and influence of external forces usually result in complex
deformation of soft continuum robots, which makes the accurate modeling and control of the …

The trend of achieving minimal invasiveness in surgeries and recent technological
advances in robotics have resulted in the emergence of flexible surgical robots. Such …

Robotic gras** has become increasingly important in many application areas such as
industrial manufacturing and logistics. Because of the diversity and uncertainty of objects …

Cosserat rod theory proved efficient modeling performances in robotics, especially in the
context of continuum robots, in the past decade. The implementation of such theory is far …

In endoscopic submucosal dissection (ESD), the gastrointestinal (GI) tract warrants the
surgical instruments to navigate through a long, narrow and tortuous endoscope. This poses …