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 …

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 …

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 …

Snake robots have advantages of terrain adaptability over wheeled mobile robots and
traditional articulated robot arms because of their limbless thin body structure and high …

Recently, flexible robotic systems are developed to enhance minimally invasive
interventions on internal organs located in confined areas of human body. These surgical …

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 …

Methods and systems are described for controlling move ment of a continuum robot that
includes a plurality of independently controlled segments along the length of the continuum …

Mathematical modeling of soft robots is complicated by the description of the continuously
deformable three-dimensional shape that they assume when subjected to external loads. In …

Continuum robotics has rapidly become a rich and diverse area of research, with many
designs and applications demonstrated. Despite this diversity in form and purpose, there …