Towards the Development of a Tendon-Actuated Galvanometer for Endoscopic Surgical Laser Scanning

TL;DR

This paper introduces a small tendon-actuated galvanometer designed for precise laser steering in minimally invasive neurosurgical procedures, enhancing tissue sensing and manipulation capabilities.

Contribution

The paper presents the design, fabrication, and kinematic modeling of a novel tendon-actuated galvanometer for endoscopic laser steering.

Findings

Accurately rotates up to 30.14 degrees

Kinematic models validated with experimental data

Enables precise laser control in minimally invasive surgery

Abstract

There is a need for precision pathological sensing, imaging, and tissue manipulation in neurosurgical procedures, such as brain tumor resection. Precise tumor margin identification and resection can prevent further growth and protect critical structures. Surgical lasers with small laser diameters and steering capabilities can allow for new minimally invasive procedures by traversing through complex anatomy, then providing energy to sense, visualize, and affect tissue. In this paper, we present the design of a small-scale tendon-actuated galvanometer (TAG) that can serve as an end-effector tool for a steerable surgical laser. The galvanometer sensor design, fabrication, and kinematic modeling are presented and derived. It can accurately rotate up to 30.14 degrees (or a laser reflection angle of 60.28 degrees). A kinematic mapping of input tendon stroke to output galvanometer angle change and a forward-kinematics model relating the end of the continuum joint to the laser end-point are derived and validated.