N-mirror Robot System for Laser Surgery: A Simulation Study.

Area of Science:

• Robotics
• Medical Robotics
• Optical Engineering

Background:

• Precise control of laser steering mirrors is crucial for automated laser surgery.
• Existing methods lack a generalized approach for varying numbers of mirrors and optical path designs.
• Different surgical approaches (endoscopic vs. open) necessitate adaptable optical configurations.

Purpose of the Study:

• To propose a generalized analytical model for laser-based surgical systems with an arbitrary number of mirrors ($$-mirror systems).
• To enable precise laser beam steering for tasks like surface scanning, tissue resection, and classification.
• To address the open research question of generalized laser beam control in medical robotics.

Main Methods:

• Derivation of forward and inverse kinematics for the $$-mirror robot system.
• Development of a system calibration method for determining laser input configurations.
• Simulation experiments on 3-mirror and 6-mirror systems with 3 laser inputs.

Main Results:

• The proposed model accurately calculates mirror angles for laser steering.
• System calibration achieved maximum position offsets < 0.127 mm and angle offsets < 0.05°.
• Optimal laser input predictions were validated through simulations.

Conclusions:

• The analytical model provides a generalized solution for laser beam control in multi-mirror robotic surgical systems.
• The derived kinematics and calibration method enhance precision and adaptability in medical robotics.
• This work contributes to advancing automated laser surgery capabilities.