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Microrobotic laser steering for minimally invasive surgery.
Peter A York1,2, Rut Peña3,2, Daniel Kent2,4
1John A. Paulson School of Engineering and Applied Sciences, Harvard University, 150 Western Ave., Boston, MA, USA. pyork@g.harvard.edu.
Science Robotics
|May 27, 2021
Summary
Researchers developed a novel optoelectromechanical device for minimally invasive surgery. This compact, high-bandwidth tool enhances surgical precision by precisely controlling a fiber-delivered laser, improving dexterity for surgeons.
Area of Science:
- Minimally Invasive Surgery
- Robotics
- Optoelectromechanical Systems
Background:
- Fabrication, assembly, and actuation challenges hinder millimeter-scale multiarticulated mechanisms for surgical tools.
- Enhanced precision and dexterity are crucial for surgeons manipulating tissue during minimally invasive procedures.
Purpose of the Study:
- To describe the construction of a complex optoelectromechanical device for controlling fiber-delivered laser position.
- To integrate this device with existing surgical tools to improve surgical capabilities.
Main Methods:
- Utilized modular assembly and a laminate fabrication method for device construction.
- Developed a compact device measuring 6 mm in diameter and 16 mm in length.
Main Results:
- Achieved a smaller, higher-bandwidth device compared to current state-of-the-art tools.
- Demonstrated a range of motion similar to existing tools (over ±10 degrees in two axes).
- Enabled high-speed laser beam steering (1.2-kilohertz bandwidth) with excellent static repeatability (200 micrometers).
Conclusions:
- The developed optoelectromechanical device offers a significant advancement for minimally invasive surgery.
- The modular and laminate fabrication approach enables creation of smaller, high-performance surgical tools.
- This technology promises to enhance surgeon precision and dexterity in complex procedures.
