Endoscopic Laser Surgery: Design, Modeling, and Control
Résumé
This paper deals with the design, modeling and control of a compact endoscopic tip for laser steering. It consists of a two degrees-of-freedom (DOF) microrobotic device based on two linear piezoelectric motors associated with a deformable microfabricated Silicon mirror. The proposed device is integrated into an endoscopic tip for microrobot-assisted vocal fold laser microsurgery. The laser motions on the target tissue are controlled using the microrobot device and through a path following scheme combined with a visual servoing controller. Indeed, the surgeon defines, using a tablet, a path to be followed automatically by the laser at high frequency and under a predefined fixed velocity. The developed device was validated successfully in both realist testbench and preclinical cadaver trials.
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