Microrobotic laser steering for minimally invasive surgery
Microrobotic laser steering for minimally invasive surgery
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DOI：
10.1126/scirobotics.abd5476
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发表时间：
2021-01
期刊：
影响因子：
25
通讯作者：
Peter A. York;Rut Peña;D. Kent;R. Wood
中科院分区：
文献类型：
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作者：
Peter A. York;Rut Peña;D. Kent;R. Wood
微机器人设计、制造和控制方面的进展使激光器能够在毫米级封装中进行灵巧的控制。创建用于微创手术工具的多关节机构是困难的，因为这些装置的毫米级的制造、组装和致动挑战。然而，这种机构对于给予外科医生更高的精确度和灵活性以操纵和可视化手术部位处的组织是期望的。在这里，我们描述了一个复杂的光机电设备，可以与现有的手术工具集成，以控制光纤传输激光的位置的建设。通过使用模块化组装和层压制造方法，我们能够创建比现有技术更小且带宽更高的设备，同时实现与现有工具类似的运动范围。我们提出的设备直径为6毫米，长度为16毫米，能够在大范围内（两个轴均超过±10度）以高速（1.2千赫带宽）聚焦和转向光纤传输的激光束，具有出色的静态重复性（200微米）。
Advances in microrobotic design, fabrication, and control enable the dexterous control of a laser in a millimeter-sized package. The creation of multiarticulated mechanisms for use with minimally invasive surgical tools is difficult because of fabrication, assembly, and actuation challenges on the millimeter scale of these devices. Nevertheless, such mechanisms are desirable for granting surgeons greater precision and dexterity to manipulate and visualize tissue at the surgical site. Here, we describe the construction of a complex optoelectromechanical device that can be integrated with existing surgical tools to control the position of a fiber-delivered laser. By using modular assembly and a laminate fabrication method, we are able to create a smaller and higher-bandwidth device than the current state of the art while achieving a range of motion similar to existing tools. The device we present is 6 millimeters in diameter and 16 millimeters in length and is capable of focusing and steering a fiber-delivered laser beam at high speed (1.2-kilohertz bandwidth) over a large range (over ±10 degrees in both of two axes) with excellent static repeatability (200 micrometers).