Visual servoing of continuum robots: Methods, challenges, and prospects

In this study, an innovative exploration of leveraging bionics and continuum robotics principles to develop a novel solution for arthroscopic surgery is embarked on. Inspired by the flexibility and adaptability of organisms like snakes and octopuses, the continuum robot concept aims to address the inherent challenges in traditional arthroscopy, including lower precision, manual tremors, and long surgeon learning curves. The implementation of these principles in the human body, however, faces significant obstacles, particularly achieving high‐performance motion control amid strong nonlinearity and coupling between modules. This research focuses on intelligent integration and enhanced safety in human‐machine interaction, aiming for improved control precision and flexibility in arthroscopic procedures. A thorough literature review of endoscopic continuum robots is conducted, highlighting current advancements in actuation, structure, sensing, and control technologies. The study concludes with an assessment of these technologies, their limitations, and future potential, in light of the unique demands of arthroscopic continuum robots. This comprehensive review bridges bionics and robotics, presenting the opportunities and challenges in applying continuum robotics to arthroscopic surgery. The goal is to encourage further research in this area, contributing to the development of prototype robots that enhance the precision and safety of arthroscopic surgery.

Section: Discussionmentioning

confidence: 99%

“…This section explores the latest advancements in alternative emerging technologies for 3D shape sensing in this field, including methods for shape reconstruction based on flexible sensors, fiber-optic sensors, EM tracking, and intraoperative imaging modalities. [107,108]…”

Section: Sensingmentioning

confidence: 99%

Toward Bionic Arthroscopy: A Comprehensive Perspective of Continuum Robotics Principles and Prototypes for the Inception of Arthroscopic Surgery Robots

Huang,

Shi,

Gao

et al. 2023

“…The control of MCRs could be divided into three layers according to their autonomous level. [27,[216][217][218] The first layer with low autonomy is defined as direct magnetic field control. In the layer, surgeons should simultaneously focus on magnetic field generation and real-time image feedback to make the decision.…”

Section: Control Strategymentioning

confidence: 99%

Magnetically Actuated Continuum Medical Robots: A Review

Yang

Cao

et al. 2023

The magnetic field has unique advantages in manipulating miniature robots working inside the human body, such as high transparency to biological tissue and good controllability for field generation. Generally, the actuated magnetic robot can be classified into two categories: tethered devices like intravascular microcatheters and untethered devices like helical swimmers. Among these, the tethered devices have a long history and good clinical application prospects, considering their high‐dose delivery and easy removal after the procedure. As an evolution of traditional continuum medical devices, the integration with magnetic actuation provides them with better scalability and improved dexterity. Although rapidly developed in the last two decades, the field of tethered magnetic robots requires further advancements in terms of design, fabrication, modeling, and control, especially for clinical applications. Herein, the recent progress of magnetically actuated continuum medical robots is focused on, intending to offer readers a comprehensive survey of the state‐of‐the‐art technologies and an information collection for future system design.

“…This is due both to the complexity and variability of the visual and physical environment of the endoscope, and to the soft robot's dynamic behavior. [47] There is, however, a clear trend toward supervised autonomous actions of robotic endoscopes, as visual servoing has shown the potential to automate repetitive tasks such as wound closure and anastomosis. [48] Our main contributions to this article include: 1) the design of a fully functional magnetic fetoscope, 2) the derivation and implementation of a dedicated visual servoing approach for navigating magnetic devices with a distal camera, 3) a method to update the Jacobian matrix that captures the variability of the physical environment due to changes in fetoscope strain or inaccuracies in the eMNS, as well as 4) a demonstration of these contributions by performing a semi-automated magnetically guided ablation on ex vivo human placentas in a setting that mimics the environment of a conventional procedure.…”

Section: Doi: 101002/aisy202200182mentioning

confidence: 99%

Magnetically Guided Laser Surgery for the Treatment of Twin‐to‐Twin Transfusion Syndrome

Lussi

Gervasoni

Mattille

et al. 2022

In the past 40 years, the percentage of twin pregnancies has increased by almost a third as a result of a rise in medically assisted reproduction and delayed childbearing. [1] Of the 1.6 million twin pairs born around the globe every year, %15% are monochorionic (MC), i.e., they share the same placenta. [2] These pregnancies present more frequent complications than dichorionic twins that develop with separate placentas. [3] One of these complications arises from vascular anastomoses that connect the blood circulation systems of both fetuses to the placenta. Twin-to-twin transfusion syndrome (TTTS) affects 10-15% of MC multiple pregnancies and is characterized by a chronic, imbalanced blood flow from the donor to the recipient twin, which results in a disproportionate nutrient supply. [4] If left untreated, the consequences of TTTS are severe, leading to a mid-trimester mortality rate of up to 95%. [5] State-of-the-art treatment of TTTS involves fetoscopic laser coagulation of the placental anastomoses. Under ultrasound guidance, the surgeon identifies a safe entry site in the maternal abdomen from which a fetoscope is inserted through a trocar (typically 2.2-4 mm in diameter; 7-12 French [6] ) into the recipient's amniotic sac. The fetoscope consists of a camera and a working channel to deliver laser light through an optical fiber at the desired location. Before the surgeon ablates the vessels, the vascular architecture is scrutinized and the connecting vessels are identified. Subsequently, all identified anastomoses are coagulated with a neodymium-doped yttrium aluminum garnet (Nd:YAG) or diode laser such that the MC circulation is converted into two independent vascular systems. [7] To ensure no small vessels are missed, the laser is repeatedly fired along a line connecting all the coagulation points from one placental border to the other (known as the Solomon technique). [5,8,9] Mortality rates still range from 20% to 48% after this surgical procedure and significant complications are reported in 6-18% of surviving newborns. [10] Neurological damage to the fetus is also more likely to occur in technically difficult cases. [8] As the procedure is demanding, outcomes are also dependent on the surgeon experience. [7,10] Cases with anterior placentas (i.e., located on the abdominal side of the uterus) constitute a major challenge, even for experienced surgeons. Good access and visualization of anterior placentas are difficult with rigid endoscopes. [11] This can prevent complete coagulation, which,