ASTRAS (Angular Sensor for TRAcking System) is a miniaturized, high-precision rotary encoder developed for the MIRACLE surgical robot. It enables accurate tracking of articulated endoscopes in minimally invasive surgery by providing precise joint rotation data in an ultra-compact form. ASTRAS uses light and a mirror to track rotation: light hits a mirror, reflects through a slit (shadow mask), and creates a pattern on an image sensor. This pattern shifts with rotation and reveals the exact angle.

Benefits of ASTRAS:

• Ultra-compact design: Only 3 mm³ in volume—ideal for space-limited surgical tools.

• High accuracy: Measures rotation with ±0.01° precision.

• Improved surgical reliability: Enables accurate tip tracking in articulated endoscopes.

• Seamless integration: Easily fits into the MIRACLE surgical robot without affecting other instruments.

• Performance breakthrough: Combines miniaturization and accuracy—previously seen as mutually exclusive.