From Theoretical Work to Clinical Translation: Progress in Concentric Tube Robots
From Theoretical Work to Clinical Translation: Progress in Concentric Tube Robots
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从理论工作到临床转化：同心管机器人的进展
DOI：
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发表时间：
2021
期刊：
影响因子：
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通讯作者：
C. Bergeles
中科院分区：
文献类型：
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作者：
Zisos Mitros;S. Sadati;Ross Henry;L. Cruz;C. Bergeles
Continuum机器人可以穿越解剖通路，干预人体深处的区域。它们能够在有限的空间中沿着3D曲线行驶，并灵巧地处理组织。同心管机器人（CTRs）是连续体机器人，由一系列预弯曲的弹性管组成，这些弹性管可以相互平移和旋转，以控制机器人的形状和尖端姿态。ctr是一项迅速成熟的技术，在过去十年中得到了广泛的研究。今天，它们被评估为各种手术应用的工具，因为它们可以在狭窄的工作空间提供精度和可操作性。本文综述了基于临床应用的CTRs研究的详尽分类，并重点介绍了建模、控制、设计和传感的方法。竞争性的方法被批判性地提出，导致未来方向的讨论，以解决当前研究及其转化为临床应用的局限性。预计《控制、机器人和自主系统年度评论》第5卷的最终在线出版日期是2022年5月。修订后的估计数请参阅http://www.annualreviews.org/page/journal/pubdates。
Continuum robots can traverse anatomical pathways to intervene in regions deep inside the human body. They are able to steer along 3D curves in confined spaces and dexterously handle tissues. Concentric tube robots (CTRs) are continuum robots that comprise a series of precurved elastic tubes that can be translated and rotated with respect to each other to control the shape of the robot and tip pose. CTRs are a rapidly maturing technology that has seen extensive research over the past decade. Today, they are being evaluated as tools for a variety of surgical applications, as they can offer precision and manipulability in tight workspaces. This review provides an exhaustive classification of research on CTRs based on their clinical applications and highlights approaches for modeling, control, design, and sensing. Competing approaches are critically presented, leading to a discussion of future directions to address the limitations of current research and its translation to clinical applications. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 5 is May 2022. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.