Towards a Magnetically Actuated Laser Scanner for Endoscopic Microsurgeries
This addresses the need for precise, non-contact surgical tools in endoscopic microsurgeries, representing an incremental improvement in medical robotics.
This paper presents a magnetically actuated endoscopic laser scanner device that enables high-precision laser scanning in narrow surgical workspaces, achieving 21 μm precision at 48 Hz scanning speed and 39 μm accuracy in teleoperation trials.
This article presents the design and assembly of a novel magnetically actuated endoscopic laser scanner device. The device is designed to perform 2D position control and high speed scanning of a fiber-based laser for operation in narrow workspaces. The device includes laser focusing optics to allow non-contact incisions and tablet-based control interface for intuitive teleoperation. The performance of the proof-of-concept device is analysed through controllability and the usability studies. The computer-controlled high-speed scanning demonstrates repeatable results with 21 um precision and a stable response up to 48 Hz. Teleoperation user trials, were performed for trajectory-following tasks with 12 subjects, show an accuracy of 39 um. The innovative design of the device can be applied to both surgical and diagnostic (imaging) applications in endoscopic systems.