TY - JOUR
T1 - Medical Technologies and Challenges of Robot-Assisted Minimally Invasive Intervention and Diagnostics
AU - Simaan, Nabil
AU - Yasin, Rashid M.
AU - Wang, Long
N1 - Publisher Copyright:
Copyright © 2018 by Annual Reviews. All rights reserve.
PY - 2018/5/28
Y1 - 2018/5/28
N2 - Emerging paradigms furthering the reach of medical technology into human anatomy present unique modeling, control, and sensing problems. This review provides a brief history of medical robotics, leading to the current trend of minimally invasive intervention and diagnostics in confined spaces. We discuss robotics for natural orifice and single-port access surgery, capsule and magnetically actuated robotics, and microrobotics, with the aim of elucidating the state of the art. We also discuss works on modeling, sensing, and control of mechanical architectures of robots for natural orifice and single-port access surgery, followed by works on magnetic actuation, sensing, and localization for capsule robotics and microrobotics. Finally, we present challenges and open problems in each of these areas.
AB - Emerging paradigms furthering the reach of medical technology into human anatomy present unique modeling, control, and sensing problems. This review provides a brief history of medical robotics, leading to the current trend of minimally invasive intervention and diagnostics in confined spaces. We discuss robotics for natural orifice and single-port access surgery, capsule and magnetically actuated robotics, and microrobotics, with the aim of elucidating the state of the art. We also discuss works on modeling, sensing, and control of mechanical architectures of robots for natural orifice and single-port access surgery, followed by works on magnetic actuation, sensing, and localization for capsule robotics and microrobotics. Finally, we present challenges and open problems in each of these areas.
KW - Capsule robots
KW - Continuum robots
KW - Microrobots
KW - Natural orifice surgery
KW - Surgical robotics
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U2 - 10.1146/annurev-control-060117-104956
DO - 10.1146/annurev-control-060117-104956
M3 - Review article
AN - SCOPUS:85056101549
VL - 1
SP - 465
EP - 490
JO - Annual Review of Control, Robotics, and Autonomous Systems
JF - Annual Review of Control, Robotics, and Autonomous Systems
ER -