  Emerging paradigms furthering the reach of medical technology deeper into
human anatomy present unique modeling, control and sensing problems. This paper
discusses a brief history of medical robotics leading to the current trend of
minimally invasive intervention and diagnostics in confined spaces. Robotics
for natural orifice and single port access surgery, capsule and magnetically
actuated robotics and microrobotics are discussed with the aim of elucidating
the state of the art. Works on modeling, sensing and control of mechanical
architectures of robots for natural orifice and single port access surgery are
discussed, followed by a presentation of works on magnetic actuation, sensing
and localization for capsule robotics and microrobotics. Finally challenges and
open problems in each one of these areas are presented.
