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Slender snake-like endoscopic robots in surgery 13

interaction between human and robot, configuration and shape sensing, workspace and
motion planning, and control strategies were illustrated.

As has been demonstrated above, research on the snake-like surgical robots owns hot topics
and trends as follows: (1) New design of mechanisms that can make safe and compliant
access to human anatomy emerged, especially by soft robotics such as self-growing and
unity of actuation and motion realized by new materials; (2) with wire-driven robots as the
mainstream of the transmission type, researchers have to deal with the modeling and
compensation of the uncertainties that are brought by the friction, elongation, and backlash
with the wire-driven robots; (3) during snake robot’s access, retreat and manipulation on the
operational region, planning, localization, and registration to the complicated human
anatomy under online monitoring will be the critical problem to ensure safety and accuracy
of the robotic surgery; (4) except for position control, study on compliance of the robot
motion such as force and stiffness control is to be enhanced for better human machine
interaction; (6) Model-less control (or data-driven control) have been applied to compensate
the uncertainties in the snake-like surgical robot modeling, with the nonlinearity solved by
learning or filtering methods.

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