Optical Fiber Coupling System for Steerable Endoscopic Instruments

Zhu, Mingzhang; Shen, Yao; Chiluisa, Alex J.; Song, Jialin; Fichera, Loris; Liu, Yuxiang

doi:10.1109/embc46164.2021.9629658

Cited by 2 publications

(2 citation statements)

References 9 publications

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“…We hope that the robot we propose in this paper will help overcome these difficulties and help move surgeries out of the operating room and into the doctor's office. In separate work [20], we developed an optical coupling system to connect our robot to a surgical laser station, and we demonstrated the ability of the system to deliver sufficient laser energy to produce heating and ablation of tissue.…”

Section: Discussionmentioning

confidence: 99%

“…It consists of an offthe-shelf optical fiber installed into a tendon-actuated Nickel-Titanium (Nitinol) notched continuum sheath. The optical fiber is the FP200ERT (Thorlabs, Newton, NJ, USA), a multimode fiber with a diameter of 0.225 mm, capable of withstanding bending radii as tight as 6 mm [20]. The distal end of the Nitinol sheath is outfitted with an aluminum end cap, which is installed by press-fitting.…”

Section: A End Effectormentioning

confidence: 99%

See 1 more Smart Citation

Light in the Larynx: a Miniaturized Robotic Optical Fiber for In-office Laser Surgery of the Vocal Folds

Chiluisa¹,

Pacheco²,

Do³

et al. 2022

Preprint

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This paper reports the design, construction, and experimental validation of a novel hand-held robot for inoffice laser surgery of the vocal folds. In-office endoscopic laser surgery is an emerging trend in Laryngology: It promises to deliver the same patient outcomes of traditional surgical treatment (i.e., in the operating room), at a fraction of the cost. Unfortunately, office procedures can be challenging to perform; the optical fibers used for laser delivery can only emit light forward in a line-of-sight fashion, which severely limits anatomical access. The robot we present in this paper aims to overcome these challenges. The end effector of the robot is a steerable laser fiber, created through the combination of a thin optical fiber ( 0.225 mm) with a tendon-actuated Nickel-Titanium notched sheath that provides bending. This device can be seamlessly used with most commercially available endoscopes, as it is sufficiently small ( 1.1 mm) to pass through a working channel. To control the fiber, we propose a compact actuation unit that can be mounted on top of the endoscope handle, so that, during a procedure, the operating physician can operate both the endoscope and the steerable fiber with a single hand. We report simulation and phantom experiments demonstrating that the proposed device substantially enhances surgical access compared to current clinical fibers.

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Section: Discussionmentioning

confidence: 99%

Section: A End Effectormentioning

confidence: 99%