A Magnetic Laser Scanner for Endoscopic Microsurgery

Abstract

The studies presented in this thesis were focused on designing, developing and characterizing a compact magnetic laser scanner for microsurgical applications and developing a laser incision depth controller to be used in soft tissue microsurgeries. Parts of these studies were presented in the following peer-reviewed publications written during the 3 years of the PhD program at the Istituto Italiano di Technologia:

Designing and Testing a Closed-Loop Magnetically Actuated Laser Scanning System for Tissue Ablation

“…This magnetostatic field controlled both the direction and magnitude of the navigation [Bos16]. Lastly, a contactless, magnetically actuated, optical fiber cable was proposed for controlling a laser beam using the electromagnetic forces [Ace17]. The advantage of this system was: (1) the simplicity of its control system design, and (2) the speed with which the fiber optic cable could be controlled.…”

“…However, the control of microsurgery laser devices also brought new technical challenges. This research was further extended by [Ace17] in the European Union funded µRALP project.…”

“…Accuracy is needed in order to conduct laser microsurgery based on laser raster scanning, i.e., a move towards partially automating tissue ablation surgery, which is a considerable surgical challenge because of the: (1) small areas that are commonly ablated, and (2) confined workspaces within the human body cavity, in which a raster scanning system is required to function. Typically, a laser actuator control system, i.e., the system that navigates and localizes the laser light beam, is located outside of the patient, but it still requires a direct line-of-sight into the surgical workspace [Ace17]. This is a major reason why lasers systems are being used in surgical procedures that are being conducted on delicate organs inside the human body cavity, e.g., eyes or organs that require up close and accurate and precise laser beam navigation and localization.…”

“…were a good match to the simulated results. Through carrying out this research and by studying the European Union µRalp research project into developing new laser-based endoscopic tools for tissue ablation surgery[Ace17], it became apparent that this research in this chapter could be adapted to the laser ablation task. By varying the current being applied individually to four solenoid coils and attaching permanent magnets to a laser fiber optic cable, the movement of the fiber optic could be accurately controlled.…”