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Mechanical systems are analogous to to electrical networks where springs and masses play similar roles to inductors and capacitors, respectively. A viscous damper in mechanical systems functions similarly to a resistor in electrical networks, dissipating energy. The forces acting on a mass in such systems include an applied force in the direction of motion, counteracted by forces from the spring, a viscous damper, and the mass's acceleration. This interplay of forces is mathematically...

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Related Experiment Video

Updated: Sep 6, 2025

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

Published on: January 7, 2019

Continuum Robots for Medical Interventions.

Pierre E Dupont¹, Nabil Simaan², Howie Choset³

¹Department of Cardiovascular Surgery, Boston Children's Hospital, Harvard Medical School, Boston, MA 02115 USA.

Proceedings of the IEEE. Institute of Electrical and Electronics Engineers

|June 27, 2022

Summary

This summary is machine-generated.

Continuum robots offer a novel approach to minimally invasive surgery by flexing their entire length. This review unifies their diverse architectures and control frameworks for clinical applications.

Keywords:

Concentric tube robots continuum robots medical robots multibackbone robots tendon actuation

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Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

Published on: November 14, 2015

Area of Science:

Robotics
Medical Devices
Minimally Invasive Surgery

Background:

Continuum robots, unlike traditional jointed robots, achieve motion through continuous bending along their entire structure.
Their flexible, narrow form factor is ideal for navigating complex anatomical pathways like body lumens and surgical incisions.
The inherent complexity in modeling and controlling these robots stems from diverse flexure mechanisms, often developed in isolation.

Purpose of the Study:

To provide a unified overview of continuum robot architectures tailored for clinical applications.
To present a cohesive framework for modeling and controlling continuum robot systems.
To identify key research advancements and future directions for widespread clinical adoption.

Main Methods:

Systematic review of existing continuum robot architectures and their design principles.
Development of a unifying framework for modeling and control applicable across different architectures.
Analysis of research accomplishments and identification of challenges for clinical implementation.

Main Results:

Categorization and summary of various continuum robot designs based on their flexure mechanisms.
Introduction of a generalized modeling and control framework applicable to diverse continuum robots.
Highlighting of significant research progress in continuum robot design and control for medical applications.

Conclusions:

A unified approach to modeling and control is crucial for advancing continuum robot technology.
Standardized frameworks will accelerate the development and clinical integration of these robots.
Further research is needed to overcome remaining challenges for widespread clinical use in minimally invasive procedures.