Intelligent Flexible Robots for Safe Manipulation of Anatomy
Current medical robotics systems use non-intelligent surgical manipulators that place the entire burden on surgeons for safeguarding against damage to the anatomy. The emergence of new surgical paradigms, such as Natural Orifice Endoscopic Trans-luminal Surgery (NOTES), requires surgical robots that are capable of supporting safe interaction with the anatomy while accessing deep surgical sites through often long natural access pathways. This requires new types of robots capable of safeguarding against damage to the anatomy by acting as intelligent intervention and information gathering tools for assisting surgeons during increasingly complex procedures. The objective of this research is to provide the theoretical foundation for modeling and control of flexible robots for intelligent and safe interaction with the anatomy. Intelligence refers to the ability of these robots to gauge their force interaction with the anatomy, gather information about the anatomy, and act based on this information.