This paper describes and discusses the history and state of the art of continuous backbone
robot manipulators. Also known as continuum manipulators, these robots, which resemble …

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 …

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 …

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

In this paper, we present a new method for the control of soft robots with elastic behavior,
piloted by several actuators. The central contribution of this work is the use of the Finite …

Concentric tube robots are catheter-sized continuum robots that are well suited for minimally
invasive surgery inside confined body cavities. These robots are constructed from sets of …

Seven years ago, concentric tube robots were essentially unknown in robotics, yet today one
would be hard pressed to find a major medical robotics forum that does not include several …

Minimally Invasive Surgery (MIS) evolved as an alternative to open surgical approaches,
and resulted in reduced surgical trauma and faster recovery. However, the confined …

With a light-slender and superior dexterous body, the cable-driven segmented redundant
manipulators (CSRMs) are excellent candidates for operations in narrow confined space …