Control of Continuum Robots for Medical Applications: State of the Art

Abstract:
Continuum robots are constructed from flexible materials, possess slender shapes, and can perform complex 3D motion. With their miniaturization capacity, high dexterity, and lack of rigid-links, their use in medical applications is increasingly considered. The specificity of their scale, their model differences, as well as the intended application requirements induced the developments of multiple control approaches. This paper provides an overview about control strategies of continuum robots and focuses particularly on those considered for medical applications. Furthermore, technical requirements such as sensor choices and actuation systems, as well as theoretical foundations including modeling approaches and autonomy levels are discussed in the scope of control of continuum robots. Finally, this paper elaborates on current challenges and open questions.