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ABSTRACT
Continuum robots, particularly concentric tube robots (CTR), have shown their abilities to reach confined zones through their miniaturization and flexibility for applications in minimally invasive surgery. Possessing the dimensions of a catheter and the mobility and controllability of rigid robots, the scope of their potential applications is broad. This article presents the major advances in design, the evolution of modeling with regard to physical phenomena, path planning, and several control laws for CTR. The contributions of the two research teams working on this topic in France are also presented.
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Read the articleAUTHORS
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Mohamed Nassim BOUSHAKI: LIRMM, UMR 5506 University of Montpellier / CNRS
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Mohamed Taha CHIKHAOUI: FEMTO-ST Institute – UBFC/UFC/CNRS/ENSMM/UTBM – UMR 6174
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Kanty RABENOROSOA: FEMTO-ST Institute – UBFC/UFC/CNRS/ENSMM/UTBM – UMR 6174
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Chao LIU: LIRMM, UMR 5506 University of Montpellier / CNRS
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Nicolas ANDREFF: FEMTO-ST Institute – UBFC/UFC/CNRS /ENSMM/UTBM – UMR 6174
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Philippe POIGNET: LIRMM, UMR 5506 University of Montpellier / CNRS
INTRODUCTION
The ultimate goal of science, technology and innovation is to serve humanity. Medicine, then, stands out as the one that proposes, in a more concrete way than other sciences, to help human beings.
"Heal sometimes, relieve often, listen always" said Louis Pasteur.
But behind pure medicine, a technological arsenal has gradually been built up, mainly over the last few decades: imaging and medical equipment, computer-assisted medical and surgical procedures (CAMS), and so on. Of all these advances, our focus is on minimally invasive intervention technologies. One of these is endoscopy, which can be used either for diagnosis (medical imaging, sampling) or to treat a disease (operative endoscopy). The need for endoscopy has been followed by an unprecedented development in robotics, and in particular the miniaturization of robotic systems. The focus is now on small robots (less than 10 mm in diameter). Indeed, pediatric tools can be as small as 6 mm in diameter . These robots are designed to have a very high level of integration, which could facilitate GMCAO.
Fujifilm : http://www.fujifilmusa.com/products/medical/endoscopy/endoscopes/ Olympus http://medical.olympusamerica.com/specialty/gastroenterology and Stortz https://www.karlstorz.com/cps/rde/xbcr/karlstorz_assets/ASSETS/3291428.pdf .
Nature has often been a source of inspiration for technological innovation. For example, snakes, elephant trunks, tongues and squid tentacles have served as inspirational models for robots that are both flexible and continually deforming. In particular, in the medical field, continuity of form is required to follow natural pathways. Similarly, soft robots enable safer, less aggressive interactions with the human body.
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KEYWORDS
practical applications | Continuum robots | Medical robotics | Concentric tube robots
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Design, modeling and control of concentric tube robots: towards medical applications
RTC presentation and modeling
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