Shape Sensing Techniques for Continuum Robots in Minimally Invasive Surgery: A Survey

Area of Science:

• Robotics
• Medical Robotics
• Surgical Technology

Background:

• Continuum robots offer high dexterity and compliance for minimally invasive surgery (MIS).
• Their deformable nature complicates accurate 3-D intraoperative shape sensing, hindering advanced control and safety.
• Accurate shape sensing is crucial for closed-loop control, path planning, and safe surgical manipulation in MIS.

Purpose of the Study:

• To survey emerging techniques for 3-D shape sensing in continuum robots.
• To address the challenge of accurate shape modeling, especially with unknown payloads.
• To provide insights into advancements for improved robotic surgery.

Main Methods:

• Review of fiber-optic-sensor-based shape reconstruction methods.
• Analysis of electromagnetic-tracking-based shape sensing techniques.
• Investigation of intraoperative imaging modality-based shape-reconstruction approaches.

Main Results:

• Identified key advancements in non-kinematic/mechanics-based shape sensing.
• Highlighted limitations of current shape sensing technologies.
• Discussed the potential of emerging techniques for improved accuracy and real-time capabilities.

Conclusions:

• Emerging shape sensing techniques show promise for overcoming limitations in continuum robot modeling.
• Improved 3-D shape sensing is vital for enhancing control, safety, and applicability of continuum robots in MIS.
• Further research into these methods can advance the field of robotic surgery.