A Review on Flexible Robotic Systems for Minimally Invasive Surgery

Recently, flexible robotic systems are developed to enhance minimally invasive interventions on internal organs located in confined areas of human body. These surgical devices are designed to navigate anatomical pathways via single-port access, such as natural orifices or minimal incisions and intra...

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Bibliographic Details
Published in:IEEE transactions on systems, man, and cybernetics. Systems man, and cybernetics. Systems, 2022-01, Vol.52 (1), p.631-644
Main Authors: Omisore, Olatunji Mumini, Han, Shipeng, Xiong, Jing, Li, Hui, Li, Zheng, Wang, Lei
Format: Article
Language:English
Subjects:
Biological systems
Confined spaces
Constraint control
Control methods
dynamics
flexible surgical robots
kinematics
Laparoscopy
Minimally invasive surgery
minimally invasive surgery (MIS)
motion planning
Navigation
Organs
Orifices
Platforms
Prototypes
Robot kinematics
Robotic surgery
Robotics
Surgery
trajectory control
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Summary:Recently, flexible robotic systems are developed to enhance minimally invasive interventions on internal organs located in confined areas of human body. These surgical devices are designed to navigate anatomical pathways via single-port access, such as natural orifices or minimal incisions and intraluminal interventions. With improved precision, spatial flexibility and dexterity, the robotic technology can enhance surgery such that minimally invasive flexible access would become a faster, safer, and more convenient method for intra-body interventions without multiple or wide incisions. However, a lot of works are still required for global acceptance of existing flexible robotic surgical platforms. This review provides extended insights on the design details of two types of flexible robotic systems used for endoscopic and endovascular procedures. As of today, several prototypes of both platforms have been proposed; however, their global acceptability and applicability remains very low. To address these, we present an extensive review on design constraints and control methods which are vital for safer, faster, and better operation of the flexible robotic systems in minimally invasive surgery (MIS). Finally, research trends of flexible robotic systems and their clinical application status in MIS are discussed along with some of the technical and technological challenges hindering their prominence.
ISSN:2168-2216
2168-2232
DOI:10.1109/TSMC.2020.3026174