Abstract
Recent advancements in continuum robotics have accentuated developing efficient and stable controllers to handle shape deformation and compliance. The control of continuum robots using physical sensors attached to the robot, particularly in confined spaces, is difficult due to their limited accuracy in three-dimensional deflections and challenging localization. Therefore, using non-contact imaging sensors finds noticeable importance, particularly in medical scenarios. Accordingly, given the need for direct control of the robot tip and notable uncertainties in kinematics and dynamics of continuum robots, many papers have focused on the visual servoing of continuum robots in recent years. The significance of this research toward safe human-robot interaction has fueled our survey on the previous methods, current challenges, and future opportunities. Beginning with actuation modalities and modeling approaches, the paper investigates visual servoing methods in medical and non-medical s cenarios. Finally, challenges and prospects of visual servoing for continuum robots are discussed, followed by concluding remarks.
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