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Task Autonomy of a Flexible Endoscopic System for Laser-Assisted Surgery
Hangjie Mo1, Xiaojian Li2, Bo Ouyang2
1Hong Kong Centre for Cerebro-Cardiovascular Health Engineering, Hong KongChina.
Cyborg and Bionic Systems (Washington, D.C.)
|April 15, 2024
Summary
This study introduces a new robotic system for autonomous laser beam steering in gastrointestinal surgery. The tendon-driven manipulator achieves precise control, improving safety and automation in minimally invasive procedures.
Area of Science:
- Robotics
- Medical Devices
- Surgical Automation
Background:
- Current flexible surgical instruments lack autonomy, limiting endoluminal surgery automation.
- Existing laser steering systems often rely on high-voltage piezoelectric actuators, posing safety risks.
Purpose of the Study:
- To design a novel workflow for autonomous laser-assisted surgery in constrained environments like the GI tract.
- To develop a safe and effective alternative to current laser steering technologies.
Main Methods:
- A 2mm diameter tendon-driven flexible manipulator integrated with an endoscope was designed.
- A population-based model-free control method was applied for autonomous laser beam steering.
- The system was tested in simulations and experiments within a controlled environment.
Main Results:
- The flexible manipulator successfully achieved autonomous laser beam steering.
- The control method demonstrated robustness against visual feedback noise and environmental disturbances.
- The system proved effective in a simulated constrained surgical environment.
Conclusions:
- The proposed framework enables task autonomy for laser-assisted surgery in constrained environments.
- This robotic system offers a safer and more automated approach compared to existing methods.
- Further development could significantly advance minimally invasive endoluminal surgery.
