An Auto-Focusing System for Endoscopic Laser Surgery based on a Hydraulic MEMS Varifocal Mirror

Geraldes, Andre; Fiorini, Paolo; Mattos, Leonardo S.

doi:10.1109/icar46387.2019.8981646

Cited by 5 publications

(7 citation statements)

References 14 publications

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“…The system's field of view was 15 mm in diameter at a FIGURE 6 | (A) Extensible hollow core continuum robot for non-contact laser surgery (Kundrat et al, 2019). (B) High power laser auto-focusing system based on a hydraulically actuated MEMS varifocal mirror (Geraldes et al, 2019).…”

Section: Endoscopic Cancer Tissue Visualization Systemsmentioning

confidence: 99%

“…The concept and an image of the micro-fabricated mirror are shown in Figure 6B . This device proved to be appropriate for use with high power surgical lasers (including CO 2 lasers) and enabled the implementation of an auto-focusing system with focal length ranging from 12 to 52 mm ( Geraldes et al, 2019 ).…”

Section: Micro-technologies and Systems For Robot-assisted Endoscopic Laser Microsurgerymentioning

confidence: 99%

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μRALP and Beyond: Micro-Technologies and Systems for Robot-Assisted Endoscopic Laser Microsurgery

et al. 2021

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Laser microsurgery is the current gold standard surgical technique for the treatment of selected diseases in delicate organs such as the larynx. However, the operations require large surgical expertise and dexterity, and face significant limitations imposed by available technology, such as the requirement for direct line of sight to the surgical field, restricted access, and direct manual control of the surgical instruments. To change this status quo, the European project μRALP pioneered research towards a complete redesign of current laser microsurgery systems, focusing on the development of robotic micro-technologies to enable endoscopic operations. This has fostered awareness and interest in this field, which presents a unique set of needs, requirements and constraints, leading to research and technological developments beyond μRALP and its research consortium. This paper reviews the achievements and key contributions of such research, providing an overview of the current state of the art in robot-assisted endoscopic laser microsurgery. The primary target application considered is phonomicrosurgery, which is a representative use case involving highly challenging microsurgical techniques for the treatment of glottic diseases. The paper starts by presenting the motivations and rationale for endoscopic laser microsurgery, which leads to the introduction of robotics as an enabling technology for improved surgical field accessibility, visualization and management. Then, research goals, achievements, and current state of different technologies that can build-up to an effective robotic system for endoscopic laser microsurgery are presented. This includes research in micro-robotic laser steering, flexible robotic endoscopes, augmented imaging, assistive surgeon-robot interfaces, and cognitive surgical systems. Innovations in each of these areas are shown to provide sizable progress towards more precise, safer and higher quality endoscopic laser microsurgeries. Yet, major impact is really expected from the full integration of such individual contributions into a complete clinical surgical robotic system, as illustrated in the end of this paper with a description of preliminary cadaver trials conducted with the integrated μRALP system. Overall, the contribution of this paper lays in outlining the current state of the art and open challenges in the area of robot-assisted endoscopic laser microsurgery, which has important clinical applications even beyond laryngology.

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Section: Endoscopic Cancer Tissue Visualization Systemsmentioning

confidence: 99%

Section: Micro-technologies and Systems For Robot-assisted Endoscopic Laser Microsurgerymentioning

confidence: 99%

μRALP and Beyond: Micro-Technologies and Systems for Robot-Assisted Endoscopic Laser Microsurgery

et al. 2021

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“…Also it is possible to achieve large OPR even for mirrors with large diameter. In [14], a 4 mm pneumatic-electrostatic VM achieved an OPR of 21 m −1 , while in [15] a 3 mm hydraulic VM achieved more than 50 m −1 of OPR .…”

Section: Introductionmentioning

confidence: 97%

“…Membrane-based varifocal mirrors (VM) are thin reflective membranes that can be dynamically deformed, allowing to change the optical power of the mirror and consequently the focal length of the reflected beam without the need for physical displacements. Several actuation mechanisms [9]- [15] have been proposed to control the deformation of these membranes, resulting in VMs with different operating conditions and different levels of optical power range (OPR). In electrostatic VMs, the mirror's deformation is controlled by applying high voltage between the mirror's surface and a counter electrode embedded in the VM.…”

Section: Introductionmentioning

confidence: 99%

“…Finally, pneumatic and hydraulic VMs control the deflection of the mirror by using fluid to apply a pressure difference to the membrane. The pressure on the fluid can be controlled by embedding linear actuators on the device, using magnetic [13] or electrostatic actuation [14], or by using a microfluidic channel connected to a pump [15]. The main advantage of this method is that the mirror deformation is parabolic, which results in optimal focusing.…”

Section: Introductionmentioning

confidence: 99%

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A Focus Control System Based on Varifocal Mirror for CO₂ Fiber-Coupled Laser Surgery

Geraldes

Fiorini

Mattos

2021

IEEE Trans. Med. Robot. Bionics

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Varifocal MEMS mirrors for high-speed axial focus scanning: a review

Pribošek,

Bainschab,

Sasaki

2023

Microsyst Nanoeng

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Recent advances brought the performance of MEMS-based varifocal mirrors to levels comparable to conventional ultra-high-speed focusing devices. Varifocal mirrors are becoming capable of high axial resolution exceeding 300 resolvable planes, can achieve microsecond response times, continuous operation above several hundred kHz, and can be designed to combine focusing with lateral steering in a single-chip device. This survey summarizes the past 50 years of scientific progress in varifocal MEMS mirrors, providing the most comprehensive study in this field to date. We introduce a novel figure of merit for varifocal mirrors on the basis of which we evaluate and compare nearly all reported devices from the literature. At the forefront of this review is the analysis of the advantages and shortcomings of various actuation technologies, as well as a systematic study of methods reported to enhance the focusing performance in terms of speed, resolution, and shape fidelity. We believe this analysis will fuel the future technological development of next-generation varifocal mirrors reaching the axial resolution of 1000 resolvable planes.

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An Auto-Focusing System for Endoscopic Laser Surgery based on a Hydraulic MEMS Varifocal Mirror

Cited by 5 publications

References 14 publications

μRALP and Beyond: Micro-Technologies and Systems for Robot-Assisted Endoscopic Laser Microsurgery

μRALP and Beyond: Micro-Technologies and Systems for Robot-Assisted Endoscopic Laser Microsurgery

A Focus Control System Based on Varifocal Mirror for CO₂ Fiber-Coupled Laser Surgery

Varifocal MEMS mirrors for high-speed axial focus scanning: a review

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An Auto-Focusing System for Endoscopic Laser Surgery based on a Hydraulic MEMS Varifocal Mirror

Cited by 5 publications

References 14 publications

μRALP and Beyond: Micro-Technologies and Systems for Robot-Assisted Endoscopic Laser Microsurgery

μRALP and Beyond: Micro-Technologies and Systems for Robot-Assisted Endoscopic Laser Microsurgery

A Focus Control System Based on Varifocal Mirror for CO2 Fiber-Coupled Laser Surgery

Varifocal MEMS mirrors for high-speed axial focus scanning: a review

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A Focus Control System Based on Varifocal Mirror for CO₂ Fiber-Coupled Laser Surgery