Microrobotic laser steering for minimally invasive surgery

York, Peter A.; Pena, Rut; Kent, Daniel O.; Wood, Robert J.

doi:10.1126/scirobotics.abd5476

Cited by 51 publications

(42 citation statements)

References 42 publications

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“…(D) A millimeter-scale tip/tilt laser-steering system (Bothner et al, 2019). (E) Microrobotic laser steering system (York et al, 2021). improved to cover an 18 mm x 18 mm workspace (York et al, 2021).…”

Section: Micro-robotic Laser Micromanipulators Beyond µRalpmentioning

confidence: 99%

“…(E) Microrobotic laser steering system (York et al, 2021). improved to cover an 18 mm x 18 mm workspace (York et al, 2021). Images of such systems are presented in Figure 5.…”

Section: Micro-robotic Laser Micromanipulators Beyond µRalpmentioning

confidence: 99%

“…Finally, a millimeter-scale tip/tilt laser scanning system based on a micro-mechatronic structure actuated by piezoelectric beams has been proposed for transoral robotic surgery, demonstrating a field of view of 10 mm x 20 mm and scanning speed up to 7 m/s from an 11 mm diameter device ( Bothner et al, 2019 ). This device was subsequently further miniaturized to a diameter of 6 mm and improved to cover an 18 mm x 18 mm workspace ( York et al, 2021 ). Images of such systems are presented in Figure 5 .…”

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

confidence: 99%

“…(D) A millimeter-scale tip/tilt laser-steering system ( Bothner et al, 2019 ). (E) Microrobotic laser steering system ( York et al, 2021 ).…”

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: Micro-robotic Laser Micromanipulators Beyond µRalpmentioning

confidence: 99%

“…(E) Microrobotic laser steering system (York et al, 2021). improved to cover an 18 mm x 18 mm workspace (York et al, 2021). Images of such systems are presented in Figure 5.…”

Section: Micro-robotic Laser Micromanipulators Beyond µRalpmentioning

confidence: 99%

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

confidence: 99%

“…(D) A millimeter-scale tip/tilt laser-steering system ( Bothner et al, 2019 ). (E) Microrobotic laser steering system ( York et al, 2021 ).…”

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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“…In application specific implementations, York et al proposed a piezoelectric-actuated mirror reflection system for medical endoscopes [15]. McClintock et al presented a controlled robotic structure coined milliDelta for vibration cancellation [8].…”

Section: Introductionmentioning

confidence: 99%

Evaluation Platform for MEMS-Actuated 3D-Printed Compliant Structures

Chen

Kiziroglou

Yeatman

2021

2021 IEEE 20th International Conference on Micro and Nanotechnology for Power Generation and Energy Conversion Applications (Po

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This paper presents experimental results on an evaluation platform for MEMS-actuated compliant structures. A combination of 3 dimensional (3D) flexure design, 3D printing of polymers with controlled stiffness is employed. A modular system design approach allows the interchange and combination of different actuation cantilevers, flexures and structure designs implemented as standalone test parts with minimal assembly requirements. The performance evaluation method includes synchronised electrical excitation and optical displacement measurements, allowing characterisation of motion amplification, dynamic response as well as actuating power transfer. As a demonstrator, a single lever compliant structure was designed, fabricated and tested on the platform to investigate how geometry and material stiffness affect performance. The experimental results reveal that significant improvement of amplification ratio and absolute phase lag can be achieved by selecting a flexure height and material composition suitable for a given application. This method of combined experimental evaluation and custom 3D design and printing is promising for optimising the design of compliant structures for MEMS sensors, actuators and energy transducers with amplified or translated motion capability.

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Multifunctional Fiber‐Enabled Intelligent Health Agents

Chen

Wang

et al. 2022

Advanced Materials

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The application of wearable devices is promoting the development toward digitization and intelligence in the field of health. However, the current smart devices centered on human health have disadvantages such as weak perception, high interference degree, and unfriendly interaction. Here, an intelligent health agent based on multifunctional fibers, with the characteristics of autonomy, activeness, intelligence, and perceptibility enabling health services, is proposed. According to the requirements for healthcare in the medical field and daily life, four major aspects driven by intelligent agents, including health monitoring, therapy, protection, and minimally invasive surgery, are summarized from the perspectives of materials science, medicine, and computer science. The function of intelligent health agents is realized through multifunctional fibers as sensing units and artificial intelligence technology as a cognitive engine. The structure, characteristics, and performance of fibers and analysis systems and algorithms are reviewed, while discussing future challenges and opportunities in healthcare and medicine. Finally, based on the above four aspects, future scenarios related to health protection of a person's life are presented. Intelligent health agents will have the potential to accelerate the realization of precision medicine and active health.

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Microrobotic laser steering for minimally invasive surgery

Cited by 51 publications

References 42 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

Evaluation Platform for MEMS-Actuated 3D-Printed Compliant Structures

Multifunctional Fiber‐Enabled Intelligent Health Agents

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