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Snake Robots for Surgical Applications: A Review

Seetohul, Jenna, Shafiee, Mahmood (2022) Snake Robots for Surgical Applications: A Review. Robotics, 11 (3). pp. 1-34. ISSN 2218-6581. (doi:10.3390/robotics11030057) (KAR id:95217)

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Although substantial advancements have been achieved in robot-assisted surgery, the blueprint to existing snake robotics predominantly focuses on the preliminary structural design, control, and human–robot interfaces, with features which have not been particularly explored in the literature. This paper aims to conduct a review of planning and operation concepts of hyper-redundant serpentine robots for surgical use, as well as any future challenges and solutions for better manipulation. Current researchers in the field of the manufacture and navigation of snake robots have faced issues, such as a low dexterity of the end-effectors around delicate organs, state estimation and the lack of depth perception on two-dimensional screens. A wide range of robots have been analysed, such as the i2Snake robot, inspiring the use of force and position feedback, visual servoing and augmented reality (AR). We present the types of actuation methods, robot kinematics, dynamics, sensing, and prospects of AR integration in snake robots, whilst addressing their shortcomings to facilitate the surgeon’s task. For a smoother gait control, validation and optimization algorithms such as deep learning databases are examined to mitigate redundancy in module linkage backlash and accidental self-collision. In essence, we aim to provide an outlook on robot configurations during motion by enhancing their material compositions within anatomical biocompatibility standards.

Item Type: Article
DOI/Identification number: 10.3390/robotics11030057
Uncontrolled keywords: snake robots; robot dynamics; minimally invasive surgery; augmented reality (AR); additive manufacturing; sensing; control
Subjects: T Technology > TA Engineering (General). Civil engineering (General) > TA165 Engineering instruments, meters etc. Industrial instrumentation
T Technology > TA Engineering (General). Civil engineering (General) > TA401 Materials engineering and construction
T Technology > TJ Mechanical engineering and machinery
T Technology > TJ Mechanical engineering and machinery > Control engineering
Divisions: Divisions > Division of Computing, Engineering and Mathematical Sciences > School of Engineering and Digital Arts
Depositing User: Mahmood Shafiee
Date Deposited: 29 May 2022 14:42 UTC
Last Modified: 30 May 2022 12:47 UTC
Resource URI: (The current URI for this page, for reference purposes)
Shafiee, Mahmood:
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