We develop a positioning and stabilization mechanism for the end-effector of an endoscope to enable high precision laser cutting of hard tissue (bone). The stabilization mechanism enhances end-effector control and positioning of the robotic endoscope with respect to the anatomy of interest. This is required since the laser optics, integrated to the endoscope tip has to be positioned and stabilized relative to the cutting surface accurately and precisely in order to enable accurate and precise laser cuts. Several disturbances are present at the endoscope tip such as thrust forces induced by a cooling jet, interactions of the endscope with the surrounding tissue, possible movement of the patient or artefacts from the actuation of the robotic endoscope. All these disturbances should be compensated in order to reach the required mechanical precision and accuracy in the sub-millimeter range.

In this project, we will use novel actuation and automation equipment for rapid prototyping. A bone-attached parallel robotic mechanism is developed to perform high precision bone cutting according to the planned intervention. As a result, we will have a functional prototype of a high accuracy endoscopic laserosteotome.

Dissertation: Robotic system for accurate minimally invasive laser osteotomy