Key Technologies and Research Progress of Continuum Manipulators for Minimally Invasive Laparoscopic Surgery

doi:10.3901/JME.2023.19.044

Abstract

Abstract: The motion limitations of traditional rigid surgical instruments and the increasingly demanding demands of minimally invasive lumpectomy are driving the development and application of flexible surgical robotics, represented by the continuum. These flexible instruments, with their small structural scale and high flexibility of motion, can perform surgical operations through narrow and curved cavity accesses, achieving non-invasive surgical results without incisions, and are widely used in procedures such as natural orifice transluminal endoscopic surgery. The key technical issues of the continuum manipulator are overviewed, including the latest research progress and challenges in the areas of configuration design, structural optimization, theoretical modeling, motion control, human-machine interaction, and shape and force sensing. According to the applications of continuum manipulators in different lumpectomies, the current research status of flexible surgical robotic systems is categorized and their technical characteristics and clinical applications are summarized in a comprehensive analysis. Finally, the prospect of the application of flexible surgical robotic systems represented by the continuum is presented.

Key words: continuum manipulator, minimally invasive laparoscopic surgery, flexible surgical robots, configuration optimization design, master-slave control, shape and force sensing

CLC Number:

TG156

ZHANG He, LI Haiming, ZHANG Jiashan, REN Hao, LI Haotian, ZHAO Jie. Key Technologies and Research Progress of Continuum Manipulators for Minimally Invasive Laparoscopic Surgery[J]. Journal of Mechanical Engineering, 2023, 59(19): 44-64.

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